From 1db0feea59bfc7b531fff957d7eed4ff00b1dfb7 Mon Sep 17 00:00:00 2001
From: Mirko Denecke <mirkix@gmail.com>
Date: Mon, 22 Jun 2020 22:34:34 +0200
Subject: [PATCH] ArduSub: update_trigger() is now called in AP_Camera update()

---
 ArduSub/ArduSub.cpp | 28 ++--------------------------
 ArduSub/Sub.h       |  1 -
 2 files changed, 2 insertions(+), 27 deletions(-)

diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
index e3f73a21ac..ba455bdff3 100644
--- a/ArduSub/ArduSub.cpp
+++ b/ArduSub/ArduSub.cpp
@@ -26,7 +26,7 @@
  */
 const AP_Scheduler::Task Sub::scheduler_tasks[] = {
     SCHED_TASK(fifty_hz_loop,         50,     75),
-    SCHED_TASK(update_GPS,            50,    200),
+    SCHED_TASK_CLASS(AP_GPS, &sub.gps, update, 50, 200),
 #if OPTFLOW == ENABLED
     SCHED_TASK_CLASS(OpticalFlow,          &sub.optflow,             update,         200, 160),
 #endif
@@ -47,7 +47,7 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_Mount,            &sub.camera_mount, update,              50,  75),
 #endif
 #if CAMERA == ENABLED
-    SCHED_TASK_CLASS(AP_Camera,           &sub.camera,       update_trigger,      50,  75),
+    SCHED_TASK_CLASS(AP_Camera,           &sub.camera,       update,              50,  75),
 #endif
     SCHED_TASK(ten_hz_logging_loop,   10,    350),
     SCHED_TASK(twentyfive_hz_logging, 25,    110),
@@ -286,30 +286,6 @@ void Sub::one_hz_loop()
     set_likely_flying(hal.util->get_soft_armed());
 }
 
-// called at 50hz
-void Sub::update_GPS()
-{
-    static uint32_t last_gps_reading[GPS_MAX_INSTANCES];   // time of last gps message
-    bool gps_updated = false;
-
-    gps.update();
-
-    // log after every gps message
-    for (uint8_t i=0; i<gps.num_sensors(); i++) {
-        if (gps.last_message_time_ms(i) != last_gps_reading[i]) {
-            last_gps_reading[i] = gps.last_message_time_ms(i);
-            gps_updated = true;
-            break;
-        }
-    }
-
-    if (gps_updated) {
-#if CAMERA == ENABLED
-        camera.update();
-#endif
-    }
-}
-
 void Sub::read_AHRS()
 {
     // Perform IMU calculations and get attitude info
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index 8e006bbab3..8ea20abc78 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -409,7 +409,6 @@ private:
     void twentyfive_hz_logging();
     void three_hz_loop();
     void one_hz_loop();
-    void update_GPS(void);
     void update_turn_counter();
     void read_AHRS(void);
     void update_altitude();