[WIP] Camera capture driver

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -205,7 +205,6 @@ 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
 
@@ -418,6 +417,15 @@ else
 	#
 	sh /etc/init.d/rc.vehicle_setup
 
+	# Camera capture driver
+	if param greater CAM_CAP_FBACK 0
+	then
+		if camera_capture start
+		then
+			camera_capture on
+		fi
+	fi
+
 	#
 	# Start the navigator.
 	#

boards/px4/fmu-v3/default.cmake

@@ -23,6 +23,7 @@ px4_add_board(
 		barometer # all available barometer drivers
 		batt_smbus
 		camera_trigger
+		camera_capture
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
 		gps

boards/px4/fmu-v5/default.cmake

@@ -21,6 +21,7 @@ px4_add_board(
 		barometer # all available barometer drivers
 		batt_smbus
 		camera_trigger
+		camera_capture
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
 		gps

msg/camera_trigger.msg

@@ -2,3 +2,6 @@ uint64 timestamp	# time since system start (microseconds)
 uint64 timestamp_utc # UTC timestamp
 
 uint32 seq		# Image sequence number
+bool feedback	# Trigger feedback from camera
+
+# TOPICS camera_trigger camera_trigger_secondary

src/drivers/camera_capture/CMakeLists.txt

@@ -0,0 +1,40 @@
+############################################################################
+#
+#   Copyright (c) 2018 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.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__camera_capture
+	MAIN camera_capture
+	COMPILE_FLAGS
+	SRCS
+		camera_capture.cpp
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :