Copter: camera is responsible for taking distance-based-images and logging

ArduCopter/ArduCopter.cpp

@@ -338,13 +338,7 @@ void Copter::update_mount()
 void Copter::update_trigger(void)
 {
 #if CAMERA == ENABLED
-    camera.trigger_pic_cleanup();
-    if (camera.check_trigger_pin()) {
-        gcs().send_message(MSG_CAMERA_FEEDBACK);
-        if (should_log(MASK_LOG_CAMERA)) {
-            DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
-        }
-    }    
+    camera.update_trigger();
 #endif
 }
 
@@ -533,15 +527,9 @@ void Copter::update_GPS(void)
         // set system time if necessary
         set_system_time_from_GPS();
 
-        // checks to initialise home and take location based pictures
-        if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
-
 #if CAMERA == ENABLED
-            if (camera.update_location(current_loc, copter.ahrs) == true) {
-                do_take_picture();
-            }
+        camera.update();
 #endif
-        }
     }
 }
 

ArduCopter/Copter.cpp

@@ -71,7 +71,7 @@ Copter::Copter(void) :
     auto_trim_counter(0),
     ServoRelayEvents(relay),
 #if CAMERA == ENABLED
-    camera(&relay),
+    camera(&relay, MASK_LOG_CAMERA, current_loc, gps, ahrs),
 #endif
 #if MOUNT == ENABLED
     camera_mount(ahrs, current_loc),

ArduCopter/Copter.h

@@ -779,8 +779,6 @@ private:
     bool verify_wait_delay();
     bool verify_within_distance();
     bool verify_yaw();
-    void do_take_picture();
-    void log_picture();
     MAV_RESULT mavlink_compassmot(mavlink_channel_t chan);
     void delay(uint32_t ms);
     bool acro_init(bool ignore_checks);

ArduCopter/GCS_Mavlink.cpp

@@ -435,7 +435,7 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
     case MSG_CAMERA_FEEDBACK:
 #if CAMERA == ENABLED
         CHECK_PAYLOAD_SIZE(CAMERA_FEEDBACK);
-        copter.camera.send_feedback(chan, copter.gps, copter.ahrs, copter.current_loc);
+        copter.camera.send_feedback(chan);
 #endif
         break;
 
@@ -1076,14 +1076,12 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
             break;
 
         case MAV_CMD_DO_DIGICAM_CONTROL:
-            if (copter.camera.control(packet.param1,
-                                      packet.param2,
-                                      packet.param3,
-                                      packet.param4,
-                                      packet.param5,
-                                      packet.param6)) {
-                copter.log_picture();
-            }
+            copter.camera.control(packet.param1,
+                                  packet.param2,
+                                  packet.param3,
+                                  packet.param4,
+                                  packet.param5,
+                                  packet.param6);
             result = MAV_RESULT_ACCEPTED;
             break;
 
@@ -1705,7 +1703,6 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
     //deprecated.  Use MAV_CMD_DO_DIGICAM_CONTROL
     case MAVLINK_MSG_ID_DIGICAM_CONTROL:
         copter.camera.control_msg(msg);
-        copter.log_picture();
         break;
 #endif // CAMERA == ENABLED
 

ArduCopter/commands_logic.cpp

@@ -1134,36 +1134,12 @@ void Copter::do_digicam_configure(const AP_Mission::Mission_Command& cmd)
 // do_digicam_control Send Digicam Control message with the camera library
 void Copter::do_digicam_control(const AP_Mission::Mission_Command& cmd)
 {
-    if (camera.control(cmd.content.digicam_control.session,
-                       cmd.content.digicam_control.zoom_pos,
-                       cmd.content.digicam_control.zoom_step,
-                       cmd.content.digicam_control.focus_lock,
-                       cmd.content.digicam_control.shooting_cmd,
-                       cmd.content.digicam_control.cmd_id)) {
-        log_picture();
-    }
-}
-
-// do_take_picture - take a picture with the camera library
-void Copter::do_take_picture()
-{
-    camera.trigger_pic(true);
-    log_picture();
-}
-
-// log_picture - log picture taken and send feedback to GCS
-void Copter::log_picture()
-{
-    if (!camera.using_feedback_pin()) {
-        gcs().send_message(MSG_CAMERA_FEEDBACK);
-        if (should_log(MASK_LOG_CAMERA)) {
-            DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
-        }
-    } else {
-        if (should_log(MASK_LOG_CAMERA)) {
-            DataFlash.Log_Write_Trigger(ahrs, gps, current_loc);
-        }      
-    }
+    camera.control(cmd.content.digicam_control.session,
+                   cmd.content.digicam_control.zoom_pos,
+                   cmd.content.digicam_control.zoom_step,
+                   cmd.content.digicam_control.focus_lock,
+                   cmd.content.digicam_control.shooting_cmd,
+                   cmd.content.digicam_control.cmd_id);
 }
 
 #endif

ArduCopter/switches.cpp

@@ -298,7 +298,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
         case AUXSW_CAMERA_TRIGGER:
 #if CAMERA == ENABLED
             if (ch_flag == AUX_SWITCH_HIGH) {
-                do_take_picture();
+                camera.take_picture();
             }
 #endif
             break;