camera feedback: remove CAM_FBACK_MODE param. CAM_CAP_FBACK from camera...

camera feedback: remove CAM_FBACK_MODE param. CAM_CAP_FBACK from camera capture driver will be used instead.

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -204,7 +204,6 @@ fi
 if param greater TRIG_MODE 0
 then
 	camera_trigger start
-	param set CAM_FBACK_MODE 1
 	camera_feedback start
 fi
 

ROMFS/px4fmu_common/init.d/rcS

@@ -372,7 +372,6 @@ else
 		fi
 
 		camera_trigger start
-		param set CAM_FBACK_MODE 1
 		camera_feedback start
 	fi
 

src/modules/camera_feedback/camera_feedback.cpp

@@ -53,13 +53,13 @@ CameraFeedback::CameraFeedback() :
 	_gpos_sub(-1),
 	_att_sub(-1),
 	_capture_pub(nullptr),
-	_camera_feedback_mode(CAMERA_FEEDBACK_MODE_NONE)
+	_camera_capture_feedback(false)
 {
 
 	// Parameters
-	_p_feedback = param_find("CAM_FBACK_MODE");
+	_p_camera_capture_feedback = param_find("CAM_CAP_FBACK");
 
-	param_get(_p_feedback, (int32_t *)&_camera_feedback_mode);
+	param_get(_p_camera_capture_feedback, (int32_t *)&_camera_capture_feedback);
 
 }
 
@@ -122,15 +122,13 @@ CameraFeedback::stop()
 void
 CameraFeedback::task_main()
 {
-
-	// We only support trigger feedback for now
-	// This will later be extended to support hardware feedback from the camera.
-	if (_camera_feedback_mode != CAMERA_FEEDBACK_MODE_TRIGGER) {
-		return;
+	if(!_camera_capture_feedback){
+		_trigger_sub = orb_subscribe(ORB_ID(camera_trigger));
+	} else {
+		_trigger_sub = orb_subscribe(ORB_ID(camera_trigger_feedback));
 	}
 
 	// Polling sources
-	_trigger_sub = orb_subscribe(ORB_ID(camera_trigger));
 	struct camera_trigger_s trig = {};
 
 	px4_pollfd_struct_t fds[1] = {};

src/modules/camera_feedback/camera_feedback.hpp

@@ -61,11 +61,6 @@
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_global_position.h>
 
-typedef enum : int32_t {
-	CAMERA_FEEDBACK_MODE_NONE = 0,
-	CAMERA_FEEDBACK_MODE_TRIGGER,
-	CAMERA_FEEDBACK_MODE_PWM
-} camera_feedback_mode_t;
 
 class CameraFeedback
 {
@@ -103,9 +98,9 @@ private:
 
 	orb_advert_t	_capture_pub;
 
-	param_t			_p_feedback;
+	param_t			_p_camera_capture_feedback;
 
-	camera_feedback_mode_t _camera_feedback_mode;
+	int32_t _camera_capture_feedback;
 
 	void		task_main();
 

src/modules/camera_feedback/camera_feedback_params.c

-/****************************************************************************
- *
- *   Copyright (c) 2017 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file camera_feedback_params.c
- * Camera feedback parameters
- *
- * @author Mohammed Kabir <kabir@uasys.io>
- */
-
-/**
- * Camera feedback mode
- *
- * Sets the camera feedback mode.
- *
- * @value 0 Disabled
- * @value 1 Feedback on trigger
- * @min 0
- * @max 1
- * @group Camera Control
- */
-PARAM_DEFINE_INT32(CAM_FBACK_MODE, 0);
\ No newline at end of file