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ArduCopter: update for changed AP_Camera API

This commit is contained in:
Andrew Tridgell 2016-01-19 16:26:14 +11:00
parent eed575886c
commit 4efb9bd785
6 changed files with 21 additions and 46 deletions
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5
ArduCopter/ArduCopter.cpp
View File

@ -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){
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);
}
camera._camera_triggered = 1;
}
#endif
}

1
ArduCopter/Copter.h
View File

@ -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);

2
ArduCopter/Log.cpp
View File

@ -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
}

8
ArduCopter/commands_logic.cpp
View File

@ -895,15 +895,13 @@ void Copter::do_take_picture()
// log_picture - log picture taken and send feedback to GCS
void Copter::log_picture()
{
if (camera._feedback_pin == -1 ){
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 {
camera._camera_triggered = 0;
if (should_log(MASK_LOG_TRIGGER)) {
} else {
if (should_log(MASK_LOG_CAMERA)) {
DataFlash.Log_Write_Trigger(ahrs, gps, current_loc);
}
}

1
ArduCopter/defines.h
View File

@ -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

18
ArduCopter/system.cpp
View File

@ -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?
*/