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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Camera/AP_Camera_Relay.cpp
Views: 1798
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#include "AP_Camera_Relay.h"

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#if AP_CAMERA_RELAY_ENABLED

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#include <AP_Relay/AP_Relay.h>

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// update - should be called at 50hz

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void AP_Camera_Relay::update()

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{

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    if (trigger_counter > 0) {

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        trigger_counter--;

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    } else {

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        AP_Relay *ap_relay = AP::relay();

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        if (ap_relay == nullptr) {

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            return;

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        }

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        ap_relay->set(AP_Relay_Params::FUNCTION::CAMERA, !_params.relay_on);

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    }

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    // call parent update

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    AP_Camera_Backend::update();

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}

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// entry point to actually take a picture.  returns true on success

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bool AP_Camera_Relay::trigger_pic()

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{

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    // fail if have not completed previous picture

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    if (trigger_counter > 0) {

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        return false;

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    }

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    // exit immediately if no relay is setup

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    AP_Relay *ap_relay = AP::relay();

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    if (ap_relay == nullptr) {

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        return false;

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    }

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    ap_relay->set(AP_Relay_Params::FUNCTION::CAMERA, _params.relay_on);

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    // set counter to move servo to off position after this many iterations of update (assumes 50hz update rate)

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    trigger_counter = constrain_float(_params.trigger_duration * 50, 0, UINT16_MAX);

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    return true;

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}

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#endif // AP_CAMERA_RELAY_ENABLED

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