AP_Logger: Privatize AP_Camera Logging

libraries/AP_Logger/AP_Logger.h

@@ -314,9 +314,6 @@ public:
     void Write_Radio(const mavlink_radio_t &packet);
     void Write_Message(const char *message);
     void Write_MessageF(const char *fmt, ...);
-    void Write_CameraInfo(enum LogMessages msg, const Location &current_loc, uint64_t timestamp_us=0);
-    void Write_Camera(const Location &current_loc, uint64_t timestamp_us=0);
-    void Write_Trigger(const Location &current_loc);
     void Write_ESC(uint8_t id, uint64_t time_us, int32_t rpm, uint16_t voltage, uint16_t current, int16_t esc_temp, uint16_t current_tot, int16_t motor_temp, float error_rate = 0.0f);
     void Write_ServoStatus(uint64_t time_us, uint8_t id, float position, float force, float speed, uint8_t power_pct);
     void Write_ESCStatus(uint64_t time_us, uint8_t id, uint32_t error_count, float voltage, float current, float temperature, int32_t rpm, uint8_t power_pct);

libraries/AP_Logger/LogFile.cpp

@@ -459,55 +459,6 @@ void AP_Logger::Write_Radio(const mavlink_radio_t &packet)
     WriteBlock(&pkt, sizeof(pkt));
 }
 
-// Write a Camera packet
-void AP_Logger::Write_CameraInfo(enum LogMessages msg, const Location &current_loc, uint64_t timestamp_us)
-{
-    const AP_AHRS &ahrs = AP::ahrs();
-
-    int32_t altitude, altitude_rel, altitude_gps;
-    if (current_loc.relative_alt) {
-        altitude = current_loc.alt+ahrs.get_home().alt;
-        altitude_rel = current_loc.alt;
-    } else {
-        altitude = current_loc.alt;
-        altitude_rel = current_loc.alt - ahrs.get_home().alt;
-    }
-    const AP_GPS &gps = AP::gps();
-    if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
-        altitude_gps = gps.location().alt;
-    } else {
-        altitude_gps = 0;
-    }
-
-    const struct log_Camera pkt{
-        LOG_PACKET_HEADER_INIT(static_cast<uint8_t>(msg)),
-        time_us     : timestamp_us?timestamp_us:AP_HAL::micros64(),
-        gps_time    : gps.time_week_ms(),
-        gps_week    : gps.time_week(),
-        latitude    : current_loc.lat,
-        longitude   : current_loc.lng,
-        altitude    : altitude,
-        altitude_rel: altitude_rel,
-        altitude_gps: altitude_gps,
-        roll        : (int16_t)ahrs.roll_sensor,
-        pitch       : (int16_t)ahrs.pitch_sensor,
-        yaw         : (uint16_t)ahrs.yaw_sensor
-    };
-    WriteCriticalBlock(&pkt, sizeof(pkt));
-}
-
-// Write a Camera packet
-void AP_Logger::Write_Camera(const Location &current_loc, uint64_t timestamp_us)
-{
-    Write_CameraInfo(LOG_CAMERA_MSG, current_loc, timestamp_us);
-}
-
-// Write a Trigger packet
-void AP_Logger::Write_Trigger(const Location &current_loc)
-{
-    Write_CameraInfo(LOG_TRIGGER_MSG, current_loc, 0);
-}
-
 void AP_Logger::Write_Compass_instance(const uint64_t time_us, const uint8_t mag_instance)
 {
     const Compass &compass = AP::compass();

libraries/AP_Logger/LogStructure.h

@@ -123,6 +123,7 @@ const struct MultiplierStructure log_Multipliers[] = {
 #include <AP_BattMonitor/LogStructure.h>
 
 #include <AP_AHRS/LogStructure.h>
+#include <AP_Camera/LogStructure.h>
 
 // structure used to define logging format
 struct LogStructure {
@@ -480,21 +481,6 @@ struct PACKED log_Radio {
     uint16_t fixed;
 };
 
-struct PACKED log_Camera {
-    LOG_PACKET_HEADER;
-    uint64_t time_us;
-    uint32_t gps_time;
-    uint16_t gps_week;
-    int32_t  latitude;
-    int32_t  longitude;
-    int32_t  altitude;
-    int32_t  altitude_rel;
-    int32_t  altitude_gps;
-    int16_t  roll;
-    int16_t  pitch;
-    uint16_t yaw;
-};
-
 struct PACKED log_PID {
     LOG_PACKET_HEADER;
     uint64_t time_us;
@@ -1058,20 +1044,6 @@ struct PACKED log_PSC {
 // @Field: PosY: Calculated beacon position, y-axis
 // @Field: PosZ: Calculated beacon position, z-axis
 
-// @LoggerMessage: CAM,TRIG
-// @Description: Camera shutter information
-// @Field: TimeUS: Time since system startup
-// @Field: GPSTime: milliseconds since start of GPS week
-// @Field: GPSWeek: weeks since 5 Jan 1980
-// @Field: Lat: current latitude
-// @Field: Lng: current longitude
-// @Field: Alt: current altitude
-// @Field: RelAlt: current altitude relative to home
-// @Field: GPSAlt: altitude as reported by GPS
-// @Field: Roll: current vehicle roll
-// @Field: Pitch: current vehicle pitch
-// @Field: Yaw: current vehicle yaw
-
 // @LoggerMessage: CESC
 // @Description: CAN ESC data
 // @Field: TimeUS: Time since system startup
@@ -1748,10 +1720,7 @@ struct PACKED log_PSC {
       "MAVC", "QBBBHBBffffiifBB","TimeUS,TS,TC,Fr,Cmd,Cur,AC,P1,P2,P3,P4,X,Y,Z,Res,WL", "s---------------", "F---------------" }, \
     { LOG_RADIO_MSG, sizeof(log_Radio), \
       "RAD", "QBBBBBHH", "TimeUS,RSSI,RemRSSI,TxBuf,Noise,RemNoise,RxErrors,Fixed", "s-------", "F-------" }, \
-    { LOG_CAMERA_MSG, sizeof(log_Camera), \
-      "CAM", "QIHLLeeeccC","TimeUS,GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,GPSAlt,Roll,Pitch,Yaw", "s--DUmmmddd", "F--GGBBBBBB" }, \
-    { LOG_TRIGGER_MSG, sizeof(log_Camera), \
-      "TRIG", "QIHLLeeeccC","TimeUS,GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,GPSAlt,Roll,Pitch,Yaw", "s--DUmmmddd", "F--GGBBBBBB" }, \
+LOG_STRUCTURE_FROM_CAMERA \
     { LOG_ARSP_MSG, sizeof(log_ARSP), "ARSP",  "QBffcffBBfB", "TimeUS,I,Airspeed,DiffPress,Temp,RawPress,Offset,U,H,Hfp,Pri", "s#nPOPP----", "F-00B00----" }, \
     LOG_STRUCTURE_FROM_BATTMONITOR \
     { LOG_MAG_MSG, sizeof(log_MAG), \
@@ -1905,7 +1874,7 @@ enum LogMessages : uint8_t {
     LOG_MAVLINK_COMMAND_MSG,
     LOG_RADIO_MSG,
     LOG_ATRP_MSG,
-    LOG_CAMERA_MSG,
+    LOG_IDS_FROM_CAMERA,
     LOG_TERRAIN_MSG,
     LOG_GPS_UBX1_MSG,
     LOG_GPS_UBX2_MSG,
@@ -1951,7 +1920,6 @@ enum LogMessages : uint8_t {
     LOG_MSG_SBPRAWH,
     LOG_MSG_SBPRAWM,
     LOG_MSG_SBPEVENT,
-    LOG_TRIGGER_MSG,
 
     LOG_RALLY_MSG,
     LOG_VISUALODOM_MSG,