ArduCopter with the new Camera and Relay classes for APM1 and APM2.

All changes by Sandro Benigno

ArduCopter/ArduCopter.pde

@@ -822,9 +822,14 @@ static uint32_t last_gps_time;
 // Used to exit the roll and pitch auto trim function
 static uint8_t auto_trim_counter;
 
-// Reference to the AP relay object - APM1 only
+// Reference to the relay object (APM1 -> PORTL 2) (APM2 -> PORTB 7)
 AP_Relay relay;
 
+//Reference to the camera object (it uses the relay object inside it)
+#if CAMERA == ENABLED
+  AP_Camera camera(&relay);
+#endif
+
 // a pin for reading the receiver RSSI voltage. The scaling by 0.25
 // is to take the 0 to 1024 range down to an 8 bit range for MAVLink
 AP_HAL::AnalogSource* rssi_analog_source;
@@ -854,9 +859,6 @@ AP_Mount camera_mount(&current_loc, g_gps, &ahrs, 0);
 AP_Mount camera_mount2(&current_loc, g_gps, &ahrs, 1);
 #endif
 
-#if CAMERA == ENABLED
-//pinMode(camtrig, OUTPUT);			// these are free pins PE3(5), PH3(15), PH6(18), PB4(23), PB5(24), PL1(36), PL3(38), PA6(72), PA7(71), PK0(89), PK1(88), PK2(87), PK3(86), PK4(83), PK5(84), PK6(83), PK7(82)
-#endif
 
 ////////////////////////////////////////////////////////////////////////////////
 // Experimental AP_Limits library - set constraints, limits, fences, minima, maxima on various parameters
@@ -1197,7 +1199,7 @@ static void fifty_hz_loop()
 #endif
 
 #if CAMERA == ENABLED
-    g.camera.trigger_pic_cleanup();
+    camera.trigger_pic_cleanup();
 #endif
 
 # if HIL_MODE == HIL_MODE_DISABLED

ArduCopter/GCS_Mavlink.pde

@@ -1896,13 +1896,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 #if CAMERA == ENABLED
     case MAVLINK_MSG_ID_DIGICAM_CONFIGURE:
     {
-        g.camera.configure_msg(msg);
+        camera.configure_msg(msg);
         break;
     }
 
     case MAVLINK_MSG_ID_DIGICAM_CONTROL:
     {
-        g.camera.control_msg(msg);
+        camera.control_msg(msg);
         break;
     }
 #endif // CAMERA == ENABLED

ArduCopter/Parameters.h

@@ -338,11 +338,6 @@ public:
 	AP_Float		heli_yaw_ff;												// yaw rate feed-forward																			
 #endif
 
-    // Camera
-#if CAMERA == ENABLED
-    AP_Camera        camera;
-#endif
-
     // RC channels
     RC_Channel              rc_1;
     RC_Channel              rc_2;

ArduCopter/Parameters.pde

@@ -443,12 +443,6 @@ const AP_Param::Info var_info[] PROGMEM = {
 	GSCALAR(heli_yaw_ff, "RATE_YAW_FF",            HELI_YAW_FF),
 #endif
 
-#if CAMERA == ENABLED
-    // @Group: CAM_
-    // @Path: ../libraries/AP_Camera/AP_Camera.cpp
-    GGROUP(camera,                  "CAM_", AP_Camera),
-#endif
-
     // RC channel
     //-----------
     // @Group: RC1_
@@ -569,6 +563,13 @@ const AP_Param::Info var_info[] PROGMEM = {
 
     // variables not in the g class which contain EEPROM saved variables
 
+    // variables not in the g class which contain EEPROM saved variables
+#if CAMERA == ENABLED
+    // @Group: CAM_
+    // @Path: ../libraries/AP_Camera/AP_Camera.cpp
+    GOBJECT(camera,           "CAM_", AP_Camera),
+#endif
+
     // @Group: COMPASS_
     // @Path: ../libraries/AP_Compass/Compass.cpp
     GOBJECT(compass,        "COMPASS_", Compass),

ArduCopter/commands_logic.pde

@@ -387,7 +387,6 @@ static bool verify_nav_wp()
 
     // Did we pass the WP?	// Distance checking
     if((wp_distance <= (g.waypoint_radius * 100)) || check_missed_wp()) {
-
         // if we have a distance calc error, wp_distance may be less than 0
         if(wp_distance > 0) {
             wp_verify_byte |= NAV_LOCATION;
@@ -883,7 +882,7 @@ static void do_nav_roi()
 static void do_take_picture()
 {
 #if CAMERA == ENABLED
-    g.camera.trigger_pic();
+    camera.trigger_pic();
     if (g.log_bitmask & MASK_LOG_CAMERA) {
         Log_Write_Camera();
     }

ArduCopter/defines.h

@@ -385,7 +385,8 @@ enum gcs_severity {
 #define AN14  68 // NC
 #define AN15  69 // NC
 
-#define RELAY_PIN 47
+#define RELAY_APM1_PIN 47
+#define RELAY_APM2_PIN 13
 
 #define PIEZO_PIN AN5           //Last pin on the back ADC connector
 

ArduCopter/events.pde

@@ -100,10 +100,6 @@ static void update_events()     // Used for MAV_CMD_DO_REPEAT_SERVO and MAV_CMD_
     if(event_repeat == 0 || (millis() - event_timer) < event_delay)
         return;
 
-    if (event_repeat > 0) {
-        event_repeat--;
-    }
-
     if(event_repeat != 0) {             // event_repeat = -1 means repeat forever
         event_timer = millis();
 
@@ -118,6 +114,9 @@ static void update_events()     // Used for MAV_CMD_DO_REPEAT_SERVO and MAV_CMD_
         if  (event_id == RELAY_TOGGLE) {
             relay.toggle();
         }
+        if (event_repeat > 0) {
+            event_repeat--;
+        }
     }
 }
 

ArduCopter/system.pde

@@ -125,9 +125,7 @@ static void init_ardupilot()
     pinMode(PUSHBUTTON_PIN, INPUT);                     // unused
 #endif
 
-#if CONFIG_RELAY == ENABLED
     relay.init(); 
-#endif
 
 #if COPTER_LEDS == ENABLED
     pinMode(COPTER_LED_1, OUTPUT);              //Motor LED