From ac65119cfe8a1b64fd930e6537725806bc3aaa2f Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 11 Jun 2014 11:58:30 +0900
Subject: [PATCH] Plane: use common Log_Write_Camera

pair programmed with Craig Elder
---
 ArduPlane/Log.pde            | 34 ----------------------------------
 ArduPlane/commands_logic.pde |  2 +-
 ArduPlane/defines.h          |  2 +-
 3 files changed, 2 insertions(+), 36 deletions(-)

diff --git a/ArduPlane/Log.pde b/ArduPlane/Log.pde
index 2521fc5f75..28ff2f8e0c 100644
--- a/ArduPlane/Log.pde
+++ b/ArduPlane/Log.pde
@@ -235,37 +235,6 @@ static void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd)
     DataFlash.Log_Write_MavCmd(mission.num_commands(),mav_cmd);
 }
 
-struct PACKED log_Camera {
-    LOG_PACKET_HEADER;
-    uint32_t gps_time;
-    uint16_t gps_week;
-    int32_t  latitude;
-    int32_t  longitude;
-    int32_t  altitude;
-    int16_t  roll;
-    int16_t  pitch;
-    uint16_t yaw;
-};
-
-// Write a Camera packet. Total length : 26 bytes
-static void Log_Write_Camera()
-{
-#if CAMERA == ENABLED
-    struct log_Camera pkt = {
-        LOG_PACKET_HEADER_INIT(LOG_CAMERA_MSG),
-        gps_time    : gps.time_week_ms(),
-        gps_week    : gps.time_week(),
-        latitude    : current_loc.lat,
-        longitude   : current_loc.lng,
-        altitude    : current_loc.alt,
-        roll        : (int16_t)ahrs.roll_sensor,
-        pitch       : (int16_t)ahrs.pitch_sensor,
-        yaw         : (uint16_t)ahrs.yaw_sensor
-    };
-    DataFlash.WriteBlock(&pkt, sizeof(pkt));
-#endif
-}
-
 struct PACKED log_Startup {
     LOG_PACKET_HEADER;
     uint8_t startup_type;
@@ -543,8 +512,6 @@ static const struct LogStructure log_structure[] PROGMEM = {
       "ATT", "IccCCC",        "TimeMS,Roll,Pitch,Yaw,ErrorRP,ErrorYaw" },
     { LOG_PERFORMANCE_MSG, sizeof(log_Performance), 
       "PM",  "IHIhhhBH", "LTime,MLC,gDt,GDx,GDy,GDz,I2CErr,INSErr" },
-    { LOG_CAMERA_MSG, sizeof(log_Camera),                 
-      "CAM", "IHLLeccC",   "GPSTime,GPSWeek,Lat,Lng,Alt,Roll,Pitch,Yaw" },
     { LOG_STARTUP_MSG, sizeof(log_Startup),         
       "STRT", "BH",         "SType,CTot" },
     { LOG_CTUN_MSG, sizeof(log_Control_Tuning),     
@@ -611,7 +578,6 @@ static void Log_Write_Performance() {}
 static void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd) {}
 static void Log_Write_Attitude() {}
 static void Log_Write_Control_Tuning() {}
-static void Log_Write_Camera() {}
 static void Log_Write_Mode(uint8_t mode) {}
 static void Log_Write_Compass() {}
 static void Log_Write_GPS(uint8_t instance) {}
diff --git a/ArduPlane/commands_logic.pde b/ArduPlane/commands_logic.pde
index 4aa381d8c4..f370c5be0d 100644
--- a/ArduPlane/commands_logic.pde
+++ b/ArduPlane/commands_logic.pde
@@ -596,7 +596,7 @@ static void do_take_picture()
 #if CAMERA == ENABLED
     camera.trigger_pic();
     if (should_log(MASK_LOG_CAMERA)) {
-        Log_Write_Camera();
+        DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
     }
 #endif
 }
diff --git a/ArduPlane/defines.h b/ArduPlane/defines.h
index 0fd4fc791e..619f269400 100644
--- a/ArduPlane/defines.h
+++ b/ArduPlane/defines.h
@@ -117,7 +117,7 @@ enum log_messages {
     LOG_STARTUP_MSG,
     TYPE_AIRSTART_MSG,
     TYPE_GROUNDSTART_MSG,
-    LOG_CAMERA_MSG,
+    LOG_CAMERA_MSG_DEPRECATED,
     LOG_ATTITUDE_MSG,
     LOG_MODE_MSG,
     LOG_COMPASS_MSG,