ArduCopter: update for changed AP_Camera API

ArduCopter/ArduCopter.cpp

@@ -127,7 +127,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     SCHED_TASK(gcs_send_deferred,     50,    550),
     SCHED_TASK(gcs_data_stream_send,  50,    550),
     SCHED_TASK(update_mount,          50,     75),
-    SCHED_TASK(update_trigger,         8,     75),
+    SCHED_TASK(update_trigger,        50,     75),
     SCHED_TASK(ten_hz_logging_loop,   10,    350),
     SCHED_TASK(fifty_hz_logging_loop, 50,    110),
     SCHED_TASK(full_rate_logging_loop,400,    100),
@@ -347,12 +347,11 @@ void Copter::update_trigger(void)
 {
 #if CAMERA == ENABLED
     camera.trigger_pic_cleanup();
-    if(camera._camera_triggered == 0 && camera._feedback_pin != -1 && check_digital_pin(camera._feedback_pin) == 0){
-      gcs_send_message(MSG_CAMERA_FEEDBACK);
-      if (should_log(MASK_LOG_CAMERA)) {
-          DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
-      }
-      camera._camera_triggered = 1;
+    if (camera.check_trigger_pin()) {
+        gcs_send_message(MSG_CAMERA_FEEDBACK);
+        if (should_log(MASK_LOG_CAMERA)) {
+            DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
+        }
     }    
 #endif
 }
@@ -656,4 +655,4 @@ void Copter::update_altitude()
     }
 }
 
-AP_HAL_MAIN_CALLBACKS(&copter);
+AP_HAL_MAIN_CALLBACKS(&copter);

ArduCopter/Copter.h

@@ -959,7 +959,6 @@ private:
     bool optflow_position_ok();
     void update_auto_armed();
     void check_usb_mux(void);
-    uint8_t check_digital_pin(uint8_t pin);
     void frsky_telemetry_send(void);
     bool should_log(uint32_t mask);
     bool current_mode_has_user_takeoff(bool must_navigate);
@@ -1055,4 +1054,4 @@ extern Copter copter;
 using AP_HAL::millis;
 using AP_HAL::micros;
 
-#endif // _COPTER_H_
+#endif // _COPTER_H_

ArduCopter/Log.cpp

@@ -50,7 +50,6 @@ bool Copter::print_log_menu(void)
         PLOG(COMPASS);
         PLOG(CAMERA);
         PLOG(PID);
-        PLOG(TRIGGER);        
 #undef PLOG
     }
 
@@ -133,7 +132,6 @@ int8_t Copter::select_logs(uint8_t argc, const Menu::arg *argv)
         TARG(COMPASS);
         TARG(CAMERA);
         TARG(PID);
-        TARG(TRIGGER);
  #undef TARG
     }
 
@@ -907,4 +905,4 @@ void Copter::Log_Write_Optflow() {}
 void Copter::start_logging() {}
 void Copter::log_init(void) {}
 
-#endif // LOGGING_ENABLED
+#endif // LOGGING_ENABLED

ArduCopter/commands_logic.cpp

@@ -895,17 +895,15 @@ void Copter::do_take_picture()
 // log_picture - log picture taken and send feedback to GCS
 void Copter::log_picture()
 {
-    if (camera._feedback_pin == -1 ){
-      gcs_send_message(MSG_CAMERA_FEEDBACK);
-      if (should_log(MASK_LOG_CAMERA)) {
-          DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
-      }
-    }
-    else {
-      camera._camera_triggered = 0;
-      if (should_log(MASK_LOG_TRIGGER)) {
-          DataFlash.Log_Write_Trigger(ahrs, gps, current_loc);
-      }      
+    if (!camera.using_feedback_pin()) {
+        gcs_send_message(MSG_CAMERA_FEEDBACK);
+        if (should_log(MASK_LOG_CAMERA)) {
+            DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
+        }
+    } else {
+        if (should_log(MASK_LOG_CAMERA)) {
+            DataFlash.Log_Write_Trigger(ahrs, gps, current_loc);
+        }      
     }
 }
 
@@ -915,4 +913,4 @@ void Copter::do_mount_control(const AP_Mission::Mission_Command& cmd)
 #if MOUNT == ENABLED
     camera_mount.set_angle_targets(cmd.content.mount_control.roll, cmd.content.mount_control.pitch, cmd.content.mount_control.yaw);
 #endif
-}
+}

ArduCopter/defines.h

@@ -278,7 +278,6 @@ enum FlipState {
 #define MASK_LOG_MOTBATT                (1UL<<17)
 #define MASK_LOG_IMU_FAST               (1UL<<18)
 #define MASK_LOG_IMU_RAW                (1UL<<19)
-#define MASK_LOG_TRIGGER                (1UL<<20)
 #define MASK_LOG_ANY                    0xFFFF
 
 // DATA - event logging
@@ -427,4 +426,4 @@ enum FlipState {
 #define THR_BEHAVE_FEEDBACK_FROM_MID_STICK (1<<0)
 #define THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND (1<<1)
 
-#endif // _DEFINES_H
+#endif // _DEFINES_H

ArduCopter/system.cpp

@@ -432,24 +432,6 @@ void Copter::frsky_telemetry_send(void)
 }
 #endif
 
-/*
-  check a digitial pin for high,low (1/0)
- */
-uint8_t Copter::check_digital_pin(uint8_t pin)
-{
-    int8_t dpin = hal.gpio->analogPinToDigitalPin(pin);
-    if (dpin == -1) {
-        return 0;
-    }
-    // ensure we are in input mode
-    hal.gpio->pinMode(dpin, HAL_GPIO_INPUT);
-
-    // enable pullup
-    hal.gpio->write(dpin, 1);
-
-    return hal.gpio->read(dpin);
-}
-
 /*
   should we log a message type now?
  */
@@ -467,4 +449,4 @@ bool Copter::should_log(uint32_t mask)
 #else
     return false;
 #endif
-}
+}