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GCS_MAVLink: use camera singleton to get camera rather than callback

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This commit is contained in:
Peter Barker 2018-08-30 21:01:11 +10:00 committed by Peter Barker
parent e4c0ef789b
commit 26e7abe6c4
4 changed files with 3 additions and 6 deletions
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1
libraries/GCS_MAVLink/GCS.h
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@ -254,7 +254,6 @@ protected:
virtual bool accept_packet(const mavlink_status_t &status, mavlink_message_t &msg) { return true; }
virtual AP_Mission *get_mission() = 0;
virtual AP_Rally *get_rally() const = 0;
virtual class AP_Camera *get_camera() const = 0;
virtual AP_AdvancedFailsafe *get_advanced_failsafe() const { return nullptr; };
virtual AP_VisualOdom *get_visual_odom() const { return nullptr; }
virtual bool set_mode(uint8_t mode) = 0;

6
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -2023,7 +2023,7 @@ void GCS_MAVLINK::handle_system_time_message(const mavlink_message_t *msg)
MAV_RESULT GCS_MAVLINK::handle_command_camera(const mavlink_command_long_t &packet)
{
AP_Camera *camera = get_camera();
AP_Camera *camera = AP::camera();
if (camera == nullptr) {
return MAV_RESULT_UNSUPPORTED;
}
@ -2316,7 +2316,7 @@ void GCS_MAVLINK::handle_common_message(mavlink_message_t *msg)
case MAVLINK_MSG_ID_DIGICAM_CONTROL:
{
AP_Camera *camera = get_camera();
AP_Camera *camera = AP::camera();
if (camera == nullptr) {
return;
}
@ -3018,7 +3018,7 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
case MSG_CAMERA_FEEDBACK:
{
AP_Camera *camera = get_camera();
AP_Camera *camera = AP::camera();
if (camera == nullptr) {
break;
}

1
libraries/GCS_MAVLink/GCS_Dummy.h
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@ -24,7 +24,6 @@ protected:
AP_Mission *get_mission() override { return nullptr; }
AP_Rally *get_rally() const override { return nullptr; };
AP_Camera *get_camera() const override { return nullptr; };
uint8_t sysid_my_gcs() const override { return 1; }
bool set_mode(uint8_t mode) override { return false; };

1
libraries/GCS_MAVLink/examples/routing/routing.cpp
View File

@ -30,7 +30,6 @@ protected:
uint32_t telem_delay() const override { return 0; }
AP_Mission *get_mission() override { return nullptr; }
AP_Rally *get_rally() const override { return nullptr; }
AP_Camera *get_camera() const override { return nullptr; };
uint8_t sysid_my_gcs() const override { return 1; }
bool set_mode(uint8_t mode) override { return false; };