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DataFlash: AP_Camera functions use GPS singleton

master
Peter Barker 7 years ago committed by Francisco Ferreira
parent
7258fa81d9
commit
b97ee33438
2 changed files with 9 additions and 8 deletions
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  1. 6
      libraries/DataFlash/DataFlash.h
  2. 11
      libraries/DataFlash/LogFile.cpp

6
libraries/DataFlash/DataFlash.h
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@ -135,9 +135,9 @@ public: @@ -135,9 +135,9 @@ public:
void Log_Write_Radio(const mavlink_radio_t &packet);
void Log_Write_Message(const char *message);
void Log_Write_MessageF(const char *fmt, ...);
void Log_Write_CameraInfo(enum LogMessages msg, const AP_AHRS &ahrs, const AP_GPS &gps, const Location &current_loc);
void Log_Write_Camera(const AP_AHRS &ahrs, const AP_GPS &gps, const Location &current_loc);
void Log_Write_Trigger(const AP_AHRS &ahrs, const AP_GPS &gps, const Location &current_loc);
void Log_Write_CameraInfo(enum LogMessages msg, const AP_AHRS &ahrs, const Location &current_loc);
void Log_Write_Camera(const AP_AHRS &ahrs, const Location &current_loc);
void Log_Write_Trigger(const AP_AHRS &ahrs, const Location &current_loc);
void Log_Write_ESC(void);
void Log_Write_Airspeed(AP_Airspeed &airspeed);
void Log_Write_Attitude(AP_AHRS &ahrs, const Vector3f &targets);

11
libraries/DataFlash/LogFile.cpp
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@ -1409,7 +1409,7 @@ void DataFlash_Class::Log_Write_Radio(const mavlink_radio_t &packet) @@ -1409,7 +1409,7 @@ void DataFlash_Class::Log_Write_Radio(const mavlink_radio_t &packet)
}
// Write a Camera packet
void DataFlash_Class::Log_Write_CameraInfo(enum LogMessages msg, const AP_AHRS &ahrs, const AP_GPS &gps, const Location &current_loc)
void DataFlash_Class::Log_Write_CameraInfo(enum LogMessages msg, const AP_AHRS &ahrs, const Location &current_loc)
{
int32_t altitude, altitude_rel, altitude_gps;
if (current_loc.flags.relative_alt) {
@ -1419,6 +1419,7 @@ void DataFlash_Class::Log_Write_CameraInfo(enum LogMessages msg, const AP_AHRS & @@ -1419,6 +1419,7 @@ void DataFlash_Class::Log_Write_CameraInfo(enum LogMessages msg, const AP_AHRS &
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 {
@ -1443,15 +1444,15 @@ void DataFlash_Class::Log_Write_CameraInfo(enum LogMessages msg, const AP_AHRS & @@ -1443,15 +1444,15 @@ void DataFlash_Class::Log_Write_CameraInfo(enum LogMessages msg, const AP_AHRS &
}
// Write a Camera packet
void DataFlash_Class::Log_Write_Camera(const AP_AHRS &ahrs, const AP_GPS &gps, const Location &current_loc)
void DataFlash_Class::Log_Write_Camera(const AP_AHRS &ahrs, const Location &current_loc)
{
Log_Write_CameraInfo(LOG_CAMERA_MSG, ahrs, gps, current_loc);
Log_Write_CameraInfo(LOG_CAMERA_MSG, ahrs, current_loc);
}
// Write a Trigger packet
void DataFlash_Class::Log_Write_Trigger(const AP_AHRS &ahrs, const AP_GPS &gps, const Location &current_loc)
void DataFlash_Class::Log_Write_Trigger(const AP_AHRS &ahrs, const Location &current_loc)
{
Log_Write_CameraInfo(LOG_TRIGGER_MSG, ahrs, gps, current_loc);
Log_Write_CameraInfo(LOG_TRIGGER_MSG, ahrs, current_loc);
}
// Write an attitude packet

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