AP_Camera: use AP_AHRS singleton to get current location and home

libraries/AP_Camera/AP_Camera.cpp

@@ -321,6 +321,10 @@ void AP_Camera::control(float session, float zoom_pos, float zoom_step, float fo
 void AP_Camera::send_feedback(mavlink_channel_t chan) const
 {
     const AP_AHRS &ahrs = AP::ahrs();
+    Location current_loc;
+    if (!ahrs.get_position(current_loc)) {
+        // completely ignore this failure!  AHRS will provide its best guess.
+    }
 
     float altitude, altitude_rel;
     if (current_loc.relative_alt) {
@@ -358,6 +362,13 @@ void AP_Camera::update()
         _last_location.lng = 0;
         return;
     }
+
+    const AP_AHRS &ahrs = AP::ahrs();
+    Location current_loc;
+    if (!ahrs.get_position(current_loc)) {
+        // completely ignore this failure!  AHRS will provide its best guess.
+    }
+
     if (_last_location.lat == 0 && _last_location.lng == 0) {
         _last_location = current_loc;
         return;

libraries/AP_Camera/AP_Camera.h

@@ -18,9 +18,8 @@
 class AP_Camera {
 
 public:
-    AP_Camera(uint32_t _log_camera_bit, const struct Location &_loc)
+    AP_Camera(uint32_t _log_camera_bit)
         : log_camera_bit(_log_camera_bit)
-        , current_loc(_loc)
     {
         AP_Param::setup_object_defaults(this, var_info);
         _singleton = this;
@@ -130,7 +129,6 @@ private:
     void Write_CameraInfo(enum LogMessages msg, uint64_t timestamp_us=0);
 
     uint32_t log_camera_bit;
-    const struct Location &current_loc;
 
     // update camera trigger - 50Hz
     void update_trigger();

libraries/AP_Camera/AP_Camera_Logging.cpp

@@ -6,6 +6,11 @@ void AP_Camera::Write_CameraInfo(enum LogMessages msg, uint64_t timestamp_us)
 {
     const AP_AHRS &ahrs = AP::ahrs();
 
+    Location current_loc;
+    if (!ahrs.get_position(current_loc)) {
+        // completely ignore this failure!  AHRS will provide its best guess.
+    }
+
     int32_t altitude, altitude_rel, altitude_gps;
     if (current_loc.relative_alt) {
         altitude = current_loc.alt+ahrs.get_home().alt;