Plane: fixes for new AP_Relay interface

ArduPlane/ArduPlane.pde

@@ -236,11 +236,12 @@ AP_HAL::AnalogSource * batt_curr_pin;
 ////////////////////////////////////////////////////////////////////////////////
 // Relay
 ////////////////////////////////////////////////////////////////////////////////
-
-#if CONFIG_RELAY == ENABLED
 AP_Relay relay;
-#endif
 
+// Camera
+#if CAMERA == ENABLED
+AP_Camera camera(&relay);
+#endif
 
 ////////////////////////////////////////////////////////////////////////////////
 // Global variables
@@ -784,7 +785,7 @@ static void medium_loop()
 #endif
 
 #if CAMERA == ENABLED
-    g.camera.trigger_pic_cleanup();
+    camera.trigger_pic_cleanup();
 #endif
 
     // This is the start of the medium (10 Hz) loop pieces

ArduPlane/GCS_Mavlink.pde

@@ -505,7 +505,7 @@ static void NOINLINE send_statustext(mavlink_channel_t chan)
 static bool telemetry_delayed(mavlink_channel_t chan)
 {
     uint32_t tnow = millis() >> 10;
-    if (tnow > g.telem_delay) {
+    if (tnow > (uint32_t)g.telem_delay) {
         return false;
     }
 #if USB_MUX_PIN > 0
@@ -1847,13 +1847,13 @@ mission_failed:
 #if CAMERA == ENABLED
     case MAVLINK_MSG_ID_DIGICAM_CONFIGURE:
     {
-        g.camera.configure_msg(msg);
+        camera.configure_msg(msg);
         break;
     }
 
     case MAVLINK_MSG_ID_DIGICAM_CONTROL:
     {
-        g.camera.control_msg(msg);
+        camera.control_msg(msg);
         break;
     }
 #endif // CAMERA == ENABLED

ArduPlane/Parameters.h

@@ -354,11 +354,6 @@ public:
     AP_Int8 stick_mixing;
     AP_Int8 rudder_steer;
 
-    // Camera
-#if CAMERA == ENABLED
-    AP_Camera camera;
-#endif
-
     // RC channels
     RC_Channel channel_roll;
     RC_Channel channel_pitch;

ArduPlane/Parameters.pde

@@ -588,7 +588,7 @@ const AP_Param::Info var_info[] PROGMEM = {
 #if CAMERA == ENABLED
     // @Group: CAM_
     // @Path: ../libraries/AP_Camera/AP_Camera.cpp
-    GGROUP(camera,                  "CAM_", AP_Camera),
+    GOBJECT(camera,                  "CAM_", AP_Camera),
 #endif
 
     // RC channel

ArduPlane/config.h

@@ -62,9 +62,6 @@
  // default choices for a 1280. We can't fit everything in, so we 
  // make some popular choices by default
  #define LOGGING_ENABLED DISABLED
- #ifndef CONFIG_RELAY
- # define CONFIG_RELAY DISABLED
- #endif
  #ifndef GEOFENCE_ENABLED
  # define GEOFENCE_ENABLED DISABLED
  #endif
@@ -98,9 +95,6 @@
  # define LED_ON           HIGH
  # define LED_OFF          LOW
  # define USB_MUX_PIN      -1
-#ifndef CONFIG_RELAY
- # define CONFIG_RELAY     ENABLED
-#endif
  # define BATTERY_VOLT_PIN      0      // Battery voltage on A0
  # define BATTERY_CURR_PIN      1      // Battery current on A1
  # define CONFIG_INS_TYPE CONFIG_INS_OILPAN
@@ -117,7 +111,6 @@
  #else
   # define USB_MUX_PIN 23
  #endif
- # define CONFIG_RELAY    DISABLED
  # define BATTERY_VOLT_PIN      1      // Battery voltage on A1
  # define BATTERY_CURR_PIN      2      // Battery current on A2
  # define CONFIG_INS_TYPE CONFIG_INS_MPU6000
@@ -135,7 +128,6 @@
  # define C_LED_PIN        25
  # define LED_ON           LOW
  # define LED_OFF          HIGH
- # define CONFIG_RELAY    DISABLED
  # define BATTERY_VOLT_PIN      1      // Battery voltage on A1
  # define BATTERY_CURR_PIN      2      // Battery current on A2
  # define CONFIG_INS_TYPE CONFIG_INS_STUB

ArduPlane/defines.h

@@ -187,9 +187,6 @@ enum gcs_severity {
 #define BATTERY_VOLTAGE(x) (x*(g.input_voltage/1024.0))*g.volt_div_ratio
 #define CURRENT_AMPS(x) ((x*(g.input_voltage/1024.0))-g.curr_amp_offset)*g.curr_amp_per_volt
 
-#define RELAY_PIN 47
-
-
 #define AN4                     4
 #define AN5                     5
 

ArduPlane/events.pde

@@ -116,9 +116,7 @@ static void update_events(void)
             break;
 
         case EVENT_TYPE_RELAY:
-#if CONFIG_RELAY == ENABLED
             relay.toggle();
-#endif
             break;
         }
 

ArduPlane/system.pde

@@ -197,9 +197,7 @@ static void init_ardupilot()
     pinMode(C_LED_PIN, OUTPUT);                         // GPS status LED
     pinMode(A_LED_PIN, OUTPUT);                         // GPS status LED
     pinMode(B_LED_PIN, OUTPUT);                         // GPS status LED
-#if CONFIG_RELAY == ENABLED
     relay.init();
-#endif
 
 #if FENCE_TRIGGERED_PIN > 0
     pinMode(FENCE_TRIGGERED_PIN, OUTPUT);

ArduPlane/test.pde

@@ -14,9 +14,7 @@ static int8_t   test_adc(uint8_t argc,                  const Menu::arg *argv);
 #endif
 static int8_t   test_ins(uint8_t argc,                  const Menu::arg *argv);
 static int8_t   test_battery(uint8_t argc,              const Menu::arg *argv);
-#if CONFIG_RELAY == ENABLED
 static int8_t   test_relay(uint8_t argc,                const Menu::arg *argv);
-#endif
 static int8_t   test_wp(uint8_t argc,                   const Menu::arg *argv);
 static int8_t   test_airspeed(uint8_t argc,     const Menu::arg *argv);
 static int8_t   test_pressure(uint8_t argc,     const Menu::arg *argv);
@@ -37,9 +35,7 @@ static const struct Menu::command test_menu_commands[] PROGMEM = {
     {"passthru",            test_passthru},
     {"failsafe",            test_failsafe},
     {"battery",     test_battery},
-#if CONFIG_RELAY == ENABLED
     {"relay",                       test_relay},
-#endif
     {"waypoints",           test_wp},
     {"xbee",                        test_xbee},
     {"eedump",                      test_eedump},
@@ -284,7 +280,6 @@ test_battery(uint8_t argc, const Menu::arg *argv)
 
 }
 
-#if CONFIG_RELAY == ENABLED
 static int8_t
 test_relay(uint8_t argc, const Menu::arg *argv)
 {
@@ -307,7 +302,6 @@ test_relay(uint8_t argc, const Menu::arg *argv)
         }
     }
 }
-#endif
 
 static int8_t
 test_wp(uint8_t argc, const Menu::arg *argv)