Rover: use common Log_Write_Camera

pair programmed with Craig Elder

APMrover2/Log.pde

@@ -202,37 +202,6 @@ static void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd)
     DataFlash.Log_Write_MavCmd(mission.num_commands(),mav_cmd);
 }
 
-struct PACKED log_Camera {
-    LOG_PACKET_HEADER;
-    uint32_t time_ms;
-    uint32_t gps_time;
-    uint16_t gps_week;
-    int32_t  latitude;
-    int32_t  longitude;
-    int16_t  roll;
-    int16_t  pitch;
-    uint16_t yaw;
-};
-
-// Write a Camera packet. Total length : 26 bytes
-static void Log_Write_Camera()
-{
-#if CAMERA == ENABLED
-    struct log_Camera pkt = {
-        LOG_PACKET_HEADER_INIT(LOG_CAMERA_MSG),
-        time_ms     : millis(),
-        gps_time    : gps.time_week_ms(),
-        gps_week    : gps.time_week(),
-        latitude    : current_loc.lat,
-        longitude   : current_loc.lng,
-        roll        : (int16_t)ahrs.roll_sensor,
-        pitch       : (int16_t)ahrs.pitch_sensor,
-        yaw         : (uint16_t)ahrs.yaw_sensor
-    };
-    DataFlash.WriteBlock(&pkt, sizeof(pkt));
-#endif
-}
-
 struct PACKED log_Steering {
     LOG_PACKET_HEADER;
     uint32_t time_ms;
@@ -512,8 +481,6 @@ static const struct LogStructure log_structure[] PROGMEM = {
       "ATT", "IccC",        "TimeMS,Roll,Pitch,Yaw" },
     { LOG_PERFORMANCE_MSG, sizeof(log_Performance), 
       "PM",  "IIHIhhhBH", "TimeMS,LTime,MLC,gDt,GDx,GDy,GDz,I2CErr,INSErr" },
-    { LOG_CAMERA_MSG, sizeof(log_Camera),                 
-      "CAM", "IIHLLeccC",   "TimeMS,GPSTime,GPSWeek,Lat,Lng,Alt,Roll,Pitch,Yaw" },
     { LOG_STARTUP_MSG, sizeof(log_Startup),         
       "STRT", "IBH",        "TimeMS,SType,CTot" },
     { LOG_CTUN_MSG, sizeof(log_Control_Tuning),     

APMrover2/commands_logic.pde

@@ -304,7 +304,7 @@ static void do_take_picture()
 #if CAMERA == ENABLED
     camera.trigger_pic();
     if (should_log(MASK_LOG_CAMERA)) {
-        Log_Write_Camera();
+        DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
     }
 #endif
 }

APMrover2/defines.h

@@ -71,7 +71,7 @@ enum mode {
 #define LOG_ATTITUDE_MSG        0x08
 #define LOG_MODE_MSG            0x09
 #define LOG_COMPASS_MSG         0x0A
-#define LOG_CAMERA_MSG          0x0B
+#define LOG_CAMERA_MSG          0x0B    // deprecated
 #define LOG_COMPASS2_MSG        0x0C
 #define LOG_STEERING_MSG        0x0D