CameraTrigger: Feedback fixes

PX4 · Jan 8, 2019 · 541b962 · 541b962
1 parent 68148c5
commit 541b962
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Showing 3 changed files with 6 additions and 15 deletions.
diff --git a/src/drivers/camera_trigger/camera_trigger_params.c b/src/drivers/camera_trigger/camera_trigger_params.c
@@ -143,8 +143,6 @@ PARAM_DEFINE_FLOAT(TRIG_DISTANCE, 25.0f);
 /**
  * PWM output to trigger shot.
  *
- * @reboot_required true
- *
  * @min 1000
  * @max 2000
  * @unit us

diff --git a/src/drivers/camera_trigger/interfaces/src/pwm.cpp b/src/drivers/camera_trigger/interfaces/src/pwm.cpp
@@ -9,19 +9,11 @@
 #include "pwm.h"
 
 
-// TODO : make these parameters later
-//#define PWM_CAMERA_SHOOT 1900
-//#define PWM_CAMERA_NEUTRAL 1500
-
-int32_t pwm_camera_shoot = 0;
-param_get(param_find("TRIG_PWM_SHOOT"), &pwm_camera_shoot);
-int32_t pwm_camera_neutral = 0;
-param_get(param_find("TRIG_PWM_NEUTRAL"), &pwm_camera_neutral);
-
-
 CameraInterfacePWM::CameraInterfacePWM():
 	CameraInterface()
 {
+	param_get(param_find("TRIG_PWM_SHOOT"), &_pwm_camera_shoot);
+	param_get(param_find("TRIG_PWM_NEUTRAL"), &_pwm_camera_neutral);
 	get_pins();
 	setup();
 }
@@ -49,7 +41,7 @@ void CameraInterfacePWM::setup()
 	// Set neutral pulsewidths
 	for (unsigned i = 0; i < arraySize(_pins); i++) {
 		if (_pins[i] >= 0) {
-			up_pwm_trigger_set(_pins[i], math::constrain(pwm_camera_neutral, 0, 2000));
+			up_pwm_trigger_set(_pins[i], math::constrain(_pwm_camera_neutral, 0, 2000));
 		}
 	}
 
@@ -60,7 +52,7 @@ void CameraInterfacePWM::trigger(bool trigger_on_true)
 	for (unsigned i = 0; i < arraySize(_pins); i++) {
 		if (_pins[i] >= 0) {
 			// Set all valid pins to shoot or neutral levels
-			up_pwm_trigger_set(_pins[i], math::constrain(trigger_on_true ? pwm_camera_shoot : pwm_camera_neutral, 0, 2000));
+			up_pwm_trigger_set(_pins[i], math::constrain(trigger_on_true ? _pwm_camera_shoot : _pwm_camera_neutral, 0, 2000));
 		}
 	}
 }

diff --git a/src/drivers/camera_trigger/interfaces/src/pwm.h b/src/drivers/camera_trigger/interfaces/src/pwm.h
@@ -25,7 +25,8 @@ class CameraInterfacePWM : public CameraInterface
 	void info();
 
 private:
-
+	int32_t _pwm_camera_shoot = 0;
+	int32_t _pwm_camera_neutral = 0;
 	void setup();
 
 };