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ArduPlane: update for changed AP_Camera API

This commit is contained in:
Andrew Tridgell 2016-01-19 16:26:14 +11:00
parent 4efb9bd785
commit d82c8dcd6d
6 changed files with 18 additions and 43 deletions
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13
ArduPlane/ArduPlane.cpp
View File

@ -70,7 +70,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
SCHED_TASK(rpm_update, 10, 200),
SCHED_TASK(airspeed_ratio_update, 1, 1000),
SCHED_TASK(update_mount, 50, 1500),
SCHED_TASK(update_trigger, 1, 1500),
SCHED_TASK(update_trigger, 50, 1500),
SCHED_TASK(log_perf_info, 0.1, 1000),
SCHED_TASK(compass_save, 0.016, 2500),
SCHED_TASK(update_logging1, 10, 1700),
@ -209,12 +209,11 @@ void Plane::update_trigger(void)
{
#if CAMERA == ENABLED
camera.trigger_pic_cleanup();
if(camera._camera_triggered == 0 && camera._feedback_pin != -1 && check_digital_pin(camera._feedback_pin) == 0){
gcs_send_message(MSG_CAMERA_FEEDBACK);
if (should_log(MASK_LOG_CAMERA)) {
DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
}
camera._camera_triggered = 1;
if (camera.check_trigger_pin()) {
gcs_send_message(MSG_CAMERA_FEEDBACK);
if (should_log(MASK_LOG_CAMERA)) {
DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
}
}
#endif
}

2
ArduPlane/Log.cpp
View File

@ -49,7 +49,6 @@ bool Plane::print_log_menu(void)
PLOG(CAMERA);
PLOG(RC);
PLOG(SONAR);
PLOG(TRIGGER);
#undef PLOG
}
@ -129,7 +128,6 @@ int8_t Plane::select_logs(uint8_t argc, const Menu::arg *argv)
TARG(CAMERA);
TARG(RC);
TARG(SONAR);
TARG(TRIGGER);
#undef TARG
}

3
ArduPlane/Plane.h
View File

@ -906,7 +906,6 @@ private:
void update_notify();
void resetPerfData(void);
void check_usb_mux(void);
uint8_t check_digital_pin(uint8_t pin);
void print_comma(void);
void servo_write(uint8_t ch, uint16_t pwm);
bool should_log(uint32_t mask);
@ -1056,4 +1055,4 @@ extern Plane plane;
using AP_HAL::millis;
using AP_HAL::micros;
#endif // _PLANE_H_
#endif // _PLANE_H_

20
ArduPlane/commands_logic.cpp
View File

@ -967,17 +967,15 @@ void Plane::do_parachute(const AP_Mission::Mission_Command& cmd)
void Plane::log_picture()
{
#if CAMERA == ENABLED
if (camera._feedback_pin == -1 ){
gcs_send_message(MSG_CAMERA_FEEDBACK);
if (should_log(MASK_LOG_CAMERA)) {
DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
}
}
else {
camera._camera_triggered = 0;
if (should_log(MASK_LOG_TRIGGER)) {
DataFlash.Log_Write_Trigger(ahrs, gps, current_loc);
}
if (!camera.using_feedback_pin()) {
gcs_send_message(MSG_CAMERA_FEEDBACK);
if (should_log(MASK_LOG_CAMERA)) {
DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
}
} else {
if (should_log(MASK_LOG_CAMERA)) {
DataFlash.Log_Write_Trigger(ahrs, gps, current_loc);
}
}
#endif
}

3
ArduPlane/defines.h
View File

@ -140,7 +140,6 @@ enum log_messages {
#define MASK_LOG_ARM_DISARM (1<<15)
#define MASK_LOG_WHEN_DISARMED (1UL<<16)
#define MASK_LOG_IMU_RAW (1UL<<19)
#define MASK_LOG_TRIGGER (1UL<<20)
// Waypoint Modes
// ----------------
@ -194,4 +193,4 @@ enum {
CRASH_DETECT_ACTION_BITMASK_DISARM = (1<<0),
// note: next enum will be (1<<1), then (1<<2), then (1<<3)
};
#endif // _DEFINES_H
#endif // _DEFINES_H

20
ArduPlane/system.cpp
View File

@ -716,24 +716,6 @@ void Plane::servo_write(uint8_t ch, uint16_t pwm)
hal.rcout->write(ch, pwm);
}
/*
check a digitial pin for high,low (1/0)
*/
uint8_t Plane::check_digital_pin(uint8_t pin)
{
int8_t dpin = hal.gpio->analogPinToDigitalPin(pin);
if (dpin == -1) {
return 0;
}
// ensure we are in input mode
hal.gpio->pinMode(dpin, HAL_GPIO_INPUT);
// enable pullup
hal.gpio->write(dpin, 1);
return hal.gpio->read(dpin);
}
/*
should we log a message type now?
*/
@ -829,4 +811,4 @@ bool Plane::disarm_motors(void)
change_arm_state();
return true;
}
}