From 7c102b90facaa3f73d74a6780c3b0f2d153a7ea7 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 27 Jun 2019 17:24:04 +1000 Subject: [PATCH] AP_Logger: use singletons when logging camera information --- libraries/AP_Logger/AP_Logger.h | 6 +++--- libraries/AP_Logger/LogFile.cpp | 12 +++++++----- 2 files changed, 10 insertions(+), 8 deletions(-) diff --git a/libraries/AP_Logger/AP_Logger.h b/libraries/AP_Logger/AP_Logger.h index 750c5dd9e0..2504a9fb38 100644 --- a/libraries/AP_Logger/AP_Logger.h +++ b/libraries/AP_Logger/AP_Logger.h @@ -246,9 +246,9 @@ public: void Write_Radio(const mavlink_radio_t &packet); void Write_Message(const char *message); void Write_MessageF(const char *fmt, ...); - void Write_CameraInfo(enum LogMessages msg, const AP_AHRS &ahrs, const Location ¤t_loc, uint64_t timestamp_us=0); - void Write_Camera(const AP_AHRS &ahrs, const Location ¤t_loc, uint64_t timestamp_us=0); - void Write_Trigger(const AP_AHRS &ahrs, const Location ¤t_loc); + void Write_CameraInfo(enum LogMessages msg, const Location ¤t_loc, uint64_t timestamp_us=0); + void Write_Camera(const Location ¤t_loc, uint64_t timestamp_us=0); + void Write_Trigger(const Location ¤t_loc); void Write_ESC(uint8_t id, uint64_t time_us, int32_t rpm, uint16_t voltage, uint16_t current, int16_t temperature, uint16_t current_tot); void Write_Attitude(AP_AHRS &ahrs, const Vector3f &targets); void Write_AttitudeView(AP_AHRS_View &ahrs, const Vector3f &targets); diff --git a/libraries/AP_Logger/LogFile.cpp b/libraries/AP_Logger/LogFile.cpp index 43039e7a20..0e86d78a40 100644 --- a/libraries/AP_Logger/LogFile.cpp +++ b/libraries/AP_Logger/LogFile.cpp @@ -543,8 +543,10 @@ void AP_Logger::Write_Radio(const mavlink_radio_t &packet) } // Write a Camera packet -void AP_Logger::Write_CameraInfo(enum LogMessages msg, const AP_AHRS &ahrs, const Location ¤t_loc, uint64_t timestamp_us) +void AP_Logger::Write_CameraInfo(enum LogMessages msg, const Location ¤t_loc, uint64_t timestamp_us) { + const AP_AHRS &ahrs = AP::ahrs(); + int32_t altitude, altitude_rel, altitude_gps; if (current_loc.relative_alt) { altitude = current_loc.alt+ahrs.get_home().alt; @@ -578,15 +580,15 @@ void AP_Logger::Write_CameraInfo(enum LogMessages msg, const AP_AHRS &ahrs, cons } // Write a Camera packet -void AP_Logger::Write_Camera(const AP_AHRS &ahrs, const Location ¤t_loc, uint64_t timestamp_us) +void AP_Logger::Write_Camera(const Location ¤t_loc, uint64_t timestamp_us) { - Write_CameraInfo(LOG_CAMERA_MSG, ahrs, current_loc, timestamp_us); + Write_CameraInfo(LOG_CAMERA_MSG, current_loc, timestamp_us); } // Write a Trigger packet -void AP_Logger::Write_Trigger(const AP_AHRS &ahrs, const Location ¤t_loc) +void AP_Logger::Write_Trigger(const Location ¤t_loc) { - Write_CameraInfo(LOG_TRIGGER_MSG, ahrs, current_loc, 0); + Write_CameraInfo(LOG_TRIGGER_MSG, current_loc, 0); } // Write an attitude packet