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Camera trigger: ensure it executes with minimal latency

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This commit is contained in:
Lorenz Meier
2016-01-02 21:20:21 +01:00
parent 41883a08d8
commit 6ee8e148a2
1 changed files with 3 additions and 3 deletions
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6
src/drivers/camera_trigger/camera_trigger.cpp
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@@ -228,11 +228,11 @@ CameraTrigger::control(bool on)
if (on) {
// schedule trigger on and off calls
hrt_call_every(&_engagecall, 500, (_interval * 1000),
hrt_call_every(&_engagecall, 0, (_interval * 1000),
(hrt_callout)&CameraTrigger::engage, this);
// schedule trigger on and off calls
hrt_call_every(&_disengagecall, 500 + (_activation_time * 1000), (_interval * 1000),
hrt_call_every(&_disengagecall, 0 + (_activation_time * 1000), (_interval * 1000),
(hrt_callout)&CameraTrigger::disengage, this);
} else {
@@ -240,7 +240,7 @@ CameraTrigger::control(bool on)
hrt_cancel(&_engagecall);
hrt_cancel(&_disengagecall);
// ensure that the pin is off
hrt_call_after(&_disengagecall, 500,
hrt_call_after(&_disengagecall, 0,
(hrt_callout)&CameraTrigger::disengage, this);
}