From 89d423556c2663e2d9da10f0a7d4ff5dff613e40 Mon Sep 17 00:00:00 2001
From: Mirko Denecke <mirkix@gmail.com>
Date: Mon, 22 Jun 2020 22:34:15 +0200
Subject: [PATCH] ArduCopter: update_trigger() is now called in AP_Camera
 update()

---
 ArduCopter/Copter.cpp | 28 ++--------------------------
 ArduCopter/Copter.h   |  1 -
 2 files changed, 2 insertions(+), 27 deletions(-)

diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index e6395c76c3..9fde684cf3 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -91,7 +91,7 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     SCHED_TASK(rc_loop,              100,    130),
     SCHED_TASK(throttle_loop,         50,     75),
-    SCHED_TASK(update_GPS,            50,    200),
+    SCHED_TASK_CLASS(AP_GPS, &copter.gps, update, 50, 200),
 #if OPTFLOW == ENABLED
     SCHED_TASK_CLASS(OpticalFlow,          &copter.optflow,             update,         200, 160),
 #endif
@@ -150,7 +150,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_Mount,             &copter.camera_mount,        update,          50,  75),
 #endif
 #if CAMERA == ENABLED
-    SCHED_TASK_CLASS(AP_Camera,            &copter.camera,              update_trigger,  50,  75),
+    SCHED_TASK_CLASS(AP_Camera,            &copter.camera,              update,          50,  75),
 #endif
 #if LOGGING_ENABLED == ENABLED
     SCHED_TASK(ten_hz_logging_loop,   10,    350),
@@ -515,30 +515,6 @@ void Copter::one_hz_loop()
     AP_Notify::flags.flying = !ap.land_complete;
 }
 
-// called at 50hz
-void Copter::update_GPS(void)
-{
-    static uint32_t last_gps_reading[GPS_MAX_INSTANCES];   // time of last gps message
-    bool gps_updated = false;
-
-    gps.update();
-
-    // log after every gps message
-    for (uint8_t i=0; i<gps.num_sensors(); i++) {
-        if (gps.last_message_time_ms(i) != last_gps_reading[i]) {
-            last_gps_reading[i] = gps.last_message_time_ms(i);
-            gps_updated = true;
-            break;
-        }
-    }
-
-    if (gps_updated) {
-#if CAMERA == ENABLED
-        camera.update();
-#endif
-    }
-}
-
 void Copter::init_simple_bearing()
 {
     // capture current cos_yaw and sin_yaw values
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 4c72ef3703..55151853d2 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -652,7 +652,6 @@ private:
     void twentyfive_hz_logging();
     void three_hz_loop();
     void one_hz_loop();
-    void update_GPS(void);
     void init_simple_bearing();
     void update_simple_mode(void);
     void update_super_simple_bearing(bool force_update);