AP_Camera: use GPS singleton

libraries/AP_Camera/AP_Camera.cpp

@@ -251,8 +251,9 @@ void AP_Camera::send_feedback(mavlink_channel_t chan)
         altitude_rel = current_loc.alt - ahrs.get_home().alt;
     }
 
-    mavlink_msg_camera_feedback_send(chan, 
-        gps.time_epoch_usec(),
+    mavlink_msg_camera_feedback_send(
+        chan,
+        AP::gps().time_epoch_usec(),
         0, 0, _image_index,
         current_loc.lat, current_loc.lng,
         altitude*1e-2, altitude_rel*1e-2,
@@ -265,7 +266,7 @@ void AP_Camera::send_feedback(mavlink_channel_t chan)
 */
 void AP_Camera::update()
 {
-    if (gps.status() < AP_GPS::GPS_OK_FIX_3D) {
+    if (AP::gps().status() < AP_GPS::GPS_OK_FIX_3D) {
         return;
     }
 
@@ -405,11 +406,11 @@ void AP_Camera::log_picture()
     if (!using_feedback_pin()) {
         gcs().send_message(MSG_CAMERA_FEEDBACK);
         if (df->should_log(log_camera_bit)) {
-            df->Log_Write_Camera(ahrs, gps, current_loc);
+            df->Log_Write_Camera(ahrs, current_loc);
         }
     } else {
         if (df->should_log(log_camera_bit)) {
-            df->Log_Write_Trigger(ahrs, gps, current_loc);
+            df->Log_Write_Trigger(ahrs, current_loc);
         }
     }
 }
@@ -444,7 +445,7 @@ void AP_Camera::update_trigger()
         DataFlash_Class *df = DataFlash_Class::instance();
         if (df != nullptr) {
             if (df->should_log(log_camera_bit)) {
-                df->Log_Write_Camera(ahrs, gps, current_loc);
+                df->Log_Write_Camera(ahrs, current_loc);
             }
         }
     }

libraries/AP_Camera/AP_Camera.h

@@ -34,9 +34,8 @@ public:
     static AP_Camera create(AP_Relay *obj_relay,
                             uint32_t _log_camera_bit,
                             const struct Location &_loc,
-                            const AP_GPS &_gps,
                             const AP_AHRS &_ahrs) {
-        return AP_Camera{obj_relay, _log_camera_bit, _loc, _gps, _ahrs};
+        return AP_Camera{obj_relay, _log_camera_bit, _loc, _ahrs};
     }
 
     constexpr AP_Camera(AP_Camera &&other) = default;
@@ -72,12 +71,11 @@ public:
     void set_is_auto_mode(bool enable) { _is_in_auto_mode = enable; }
 
 private:
-    AP_Camera(AP_Relay *obj_relay, uint32_t _log_camera_bit, const struct Location &_loc, const AP_GPS &_gps, const AP_AHRS &_ahrs)
+    AP_Camera(AP_Relay *obj_relay, uint32_t _log_camera_bit, const struct Location &_loc, const AP_AHRS &_ahrs)
         : _trigger_counter(0) // count of number of cycles shutter has been held open
         , _image_index(0)
         , log_camera_bit(_log_camera_bit)
         , current_loc(_loc)
-        , gps(_gps)
         , ahrs(_ahrs)
     {
         AP_Param::setup_object_defaults(this, var_info);
@@ -123,7 +121,6 @@ private:
 
     uint32_t log_camera_bit;
     const struct Location &current_loc;
-    const AP_GPS &gps;
     const AP_AHRS &ahrs;
 
     // entry point to trip local shutter (e.g. by relay or servo)