AP_Camera: move to new relay functions

libraries/AP_Camera/AP_Camera.cpp

@@ -771,6 +771,26 @@ void AP_Camera::convert_params()
     }
 }
 
+#if AP_RELAY_ENABLED
+// Return true and the relay index if relay camera backend is selected, used for conversion to relay functions
+bool AP_Camera::get_legacy_relay_index(int8_t &index) const
+{
+    // PARAMETER_CONVERSION - Added: Dec-2023
+
+    // Note that this assumes that the camera param conversion has already been done
+    // Copter, Plane, Sub and Rover all have both relay and camera and all init relay first
+    // This will only be a issue if the relay and camera conversion were done at once, if the user skipped 4.4
+    for (uint8_t i = 0; i < AP_CAMERA_MAX_INSTANCES; i++) {
+        if ((CameraType)_params[i].type.get() == CameraType::RELAY) {
+            // Camera was hard coded to relay 0
+            index = 0;
+            return true;
+        }
+    }
+    return false;
+}
+#endif
+
 // singleton instance
 AP_Camera *AP_Camera::_singleton;
 

libraries/AP_Camera/AP_Camera.h

@@ -182,6 +182,9 @@ public:
     bool get_state(uint8_t instance, camera_state_t& cam_state);
 #endif
 
+    // Return true and the relay index if relay camera backend is selected, used for conversion to relay functions
+    bool get_legacy_relay_index(int8_t &index) const;
+
     // allow threads to lock against AHRS update
     HAL_Semaphore &get_semaphore() { return _rsem; }
 

libraries/AP_Camera/AP_Camera_Relay.cpp

@@ -14,11 +14,7 @@ void AP_Camera_Relay::update()
         if (ap_relay == nullptr) {
             return;
         }
-        if (_params.relay_on) {
+        ap_relay->set(AP_Relay_Params::FUNCTION::CAMERA, !_params.relay_on);
-            ap_relay->off(0);
-        } else {
-            ap_relay->on(0);
-        }
     }
 
     // call parent update
@@ -39,11 +35,7 @@ bool AP_Camera_Relay::trigger_pic()
         return false;
     }
 
-    if (_params.relay_on) {
+    ap_relay->set(AP_Relay_Params::FUNCTION::CAMERA, _params.relay_on);
-        ap_relay->on(0);
-    } else {
-        ap_relay->off(0);
-    }
 
     // set counter to move servo to off position after this many iterations of update (assumes 50hz update rate)
     trigger_counter = constrain_float(_params.trigger_duration * 50, 0, UINT16_MAX);