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AP_Camera: rely on AHRS for position, not GPS

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our location may not be coming from a GPS
This commit is contained in:
Peter Barker 2024-07-31 21:25:29 +10:00 committed by Peter Barker
parent b65a5a904c
commit bc80358e9b
2 changed files with 10 additions and 10 deletions
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1
libraries/AP_Camera/AP_Camera.cpp
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@ -6,7 +6,6 @@
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <SRV_Channel/SRV_Channel.h> #include <SRV_Channel/SRV_Channel.h>
#include <AP_GPS/AP_GPS.h>
#include "AP_Camera_Backend.h" #include "AP_Camera_Backend.h"
#include "AP_Camera_Servo.h" #include "AP_Camera_Servo.h"
#include "AP_Camera_Relay.h" #include "AP_Camera_Relay.h"

19
libraries/AP_Camera/AP_Camera_Backend.cpp
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@ -1,9 +1,13 @@
#include "AP_Camera_Backend.h" #include "AP_Camera_config.h"
#if AP_CAMERA_ENABLED #if AP_CAMERA_ENABLED
#include "AP_Camera_Backend.h"
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <AP_GPS/AP_GPS.h> #include <AP_GPS/AP_GPS.h>
#include <AP_Mount/AP_Mount.h> #include <AP_Mount/AP_Mount.h>
#include <AP_AHRS/AP_AHRS.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -57,8 +61,10 @@ void AP_Camera_Backend::update()
return; return;
} }
// check GPS status const AP_AHRS &ahrs = AP::ahrs();
if (AP::gps().status() < AP_GPS::GPS_OK_FIX_3D) {
Location current_loc;
if (!ahrs.get_location(current_loc)) {
return; return;
} }
@ -68,15 +74,10 @@ void AP_Camera_Backend::update()
} }
// check vehicle roll angle is less than configured maximum // check vehicle roll angle is less than configured maximum
const AP_AHRS &ahrs = AP::ahrs(); if ((_frontend.get_roll_max() > 0) && (fabsf(ahrs.roll_sensor * 1e-2f) > _frontend.get_roll_max())) {
if ((_frontend.get_roll_max() > 0) && (fabsf(AP::ahrs().roll_sensor * 1e-2f) > _frontend.get_roll_max())) {
return; 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 // initialise last location to current location
if (last_location.lat == 0 && last_location.lng == 0) { if (last_location.lat == 0 && last_location.lng == 0) {
last_location = current_loc; last_location = current_loc;