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ArduSub: add and use AP_CAMERA_ENABLED

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Peter Barker 2022-06-02 18:28:26 +10:00 committed by Peter Barker
parent dabf78c61f
commit 9b5d70f7b5
5 changed files with 4 additions and 13 deletions
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2
ArduSub/ArduSub.cpp
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@ -87,7 +87,7 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
#if HAL_MOUNT_ENABLED #if HAL_MOUNT_ENABLED
SCHED_TASK_CLASS(AP_Mount, &sub.camera_mount, update, 50, 75, 45), SCHED_TASK_CLASS(AP_Mount, &sub.camera_mount, update, 50, 75, 45),
#endif #endif
#if CAMERA == ENABLED #if AP_CAMERA_ENABLED
SCHED_TASK_CLASS(AP_Camera, &sub.camera, update, 50, 75, 48), SCHED_TASK_CLASS(AP_Camera, &sub.camera, update, 50, 75, 48),
#endif #endif
SCHED_TASK(ten_hz_logging_loop, 10, 350, 51), SCHED_TASK(ten_hz_logging_loop, 10, 350, 51),

2
ArduSub/Parameters.cpp
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@ -409,7 +409,7 @@ const AP_Param::Info Sub::var_info[] = {
// 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 #if AP_CAMERA_ENABLED
// @Group: CAM_ // @Group: CAM_
// @Path: ../libraries/AP_Camera/AP_Camera.cpp // @Path: ../libraries/AP_Camera/AP_Camera.cpp
GOBJECT(camera, "CAM_", AP_Camera), GOBJECT(camera, "CAM_", AP_Camera),

4
ArduSub/Sub.h
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@ -99,9 +99,7 @@
#include <AP_Rally/AP_Rally.h> // Rally point library #include <AP_Rally/AP_Rally.h> // Rally point library
#endif #endif
#if CAMERA == ENABLED
#include <AP_Camera/AP_Camera.h> // Photo or video camera #include <AP_Camera/AP_Camera.h> // Photo or video camera
#endif
#if AP_SCRIPTING_ENABLED #if AP_SCRIPTING_ENABLED
#include <AP_Scripting/AP_Scripting.h> #include <AP_Scripting/AP_Scripting.h>
@ -336,7 +334,7 @@ private:
AC_Circle circle_nav; AC_Circle circle_nav;
// Camera // Camera
#if CAMERA == ENABLED #if AP_CAMERA_ENABLED
AP_Camera camera{MASK_LOG_CAMERA}; AP_Camera camera{MASK_LOG_CAMERA};
#endif #endif

7
ArduSub/config.h
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@ -103,13 +103,6 @@
# define NAV_GUIDED ENABLED # define NAV_GUIDED ENABLED
#endif #endif
//////////////////////////////////////////////////////////////////////////////
// CAMERA TRIGGER AND CONTROL
//
#ifndef CAMERA
# define CAMERA DISABLED
#endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// Flight mode definitions // Flight mode definitions
// //

2
ArduSub/flight_mode.cpp
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@ -78,7 +78,7 @@ bool Sub::set_mode(control_mode_t mode, ModeReason reason)
// update notify object // update notify object
notify_flight_mode(control_mode); notify_flight_mode(control_mode);
#if CAMERA == ENABLED #if AP_CAMERA_ENABLED
camera.set_is_auto_mode(control_mode == AUTO); camera.set_is_auto_mode(control_mode == AUTO);
#endif #endif