From bc80358e9b946480152849bd2960d2ae1ba7552f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 31 Jul 2024 21:25:29 +1000
Subject: [PATCH] AP_Camera: rely on AHRS for position, not GPS

our location may not be coming from a GPS
---
 libraries/AP_Camera/AP_Camera.cpp         |  1 -
 libraries/AP_Camera/AP_Camera_Backend.cpp | 19 ++++++++++---------
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/libraries/AP_Camera/AP_Camera.cpp b/libraries/AP_Camera/AP_Camera.cpp
index 57302c8bde..b3869c4818 100644
--- a/libraries/AP_Camera/AP_Camera.cpp
+++ b/libraries/AP_Camera/AP_Camera.cpp
@@ -6,7 +6,6 @@
 #include <AP_Math/AP_Math.h>
 #include <AP_HAL/AP_HAL.h>
 #include <SRV_Channel/SRV_Channel.h>
-#include <AP_GPS/AP_GPS.h>
 #include "AP_Camera_Backend.h"
 #include "AP_Camera_Servo.h"
 #include "AP_Camera_Relay.h"
diff --git a/libraries/AP_Camera/AP_Camera_Backend.cpp b/libraries/AP_Camera/AP_Camera_Backend.cpp
index fafe4546aa..40731a6385 100644
--- a/libraries/AP_Camera/AP_Camera_Backend.cpp
+++ b/libraries/AP_Camera/AP_Camera_Backend.cpp
@@ -1,9 +1,13 @@
-#include "AP_Camera_Backend.h"
+#include "AP_Camera_config.h"
 
 #if AP_CAMERA_ENABLED
+
+#include "AP_Camera_Backend.h"
+
 #include <GCS_MAVLink/GCS.h>
 #include <AP_GPS/AP_GPS.h>
 #include <AP_Mount/AP_Mount.h>
+#include <AP_AHRS/AP_AHRS.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -57,8 +61,10 @@ void AP_Camera_Backend::update()
         return;
     }
 
-    // check GPS status
-    if (AP::gps().status() < AP_GPS::GPS_OK_FIX_3D) {
+    const AP_AHRS &ahrs = AP::ahrs();
+
+    Location current_loc;
+    if (!ahrs.get_location(current_loc)) {
         return;
     }
 
@@ -68,15 +74,10 @@ void AP_Camera_Backend::update()
     }
 
     // check vehicle roll angle is less than configured maximum
-    const AP_AHRS &ahrs = AP::ahrs();
-    if ((_frontend.get_roll_max() > 0) && (fabsf(AP::ahrs().roll_sensor * 1e-2f) > _frontend.get_roll_max())) {
+    if ((_frontend.get_roll_max() > 0) && (fabsf(ahrs.roll_sensor * 1e-2f) > _frontend.get_roll_max())) {
         return;
     }
 
-    // get current location. ignore failure because AHRS will provide its best guess
-    Location current_loc;
-    IGNORE_RETURN(ahrs.get_location(current_loc));
-
     // initialise last location to current location
     if (last_location.lat == 0 && last_location.lng == 0) {
         last_location = current_loc;