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APMrover2: update for changed AP_Camera API

This commit is contained in:
Andrew Tridgell 2016-01-19 16:26:14 +11:00
parent 061ee5e4fd
commit eed575886c
4 changed files with 20 additions and 26 deletions
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13
APMrover2/APMrover2.cpp
View File

@ -68,7 +68,7 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
SCHED_TASK(update_events, 50, 1000), SCHED_TASK(update_events, 50, 1000),
SCHED_TASK(check_usb_mux, 3, 1000), SCHED_TASK(check_usb_mux, 3, 1000),
SCHED_TASK(mount_update, 50, 600), SCHED_TASK(mount_update, 50, 600),
SCHED_TASK(update_trigger, 1, 600), SCHED_TASK(update_trigger, 50, 600),
SCHED_TASK(gcs_failsafe_check, 10, 600), SCHED_TASK(gcs_failsafe_check, 10, 600),
SCHED_TASK(compass_accumulate, 50, 900), SCHED_TASK(compass_accumulate, 50, 900),
SCHED_TASK(update_notify, 50, 300), SCHED_TASK(update_notify, 50, 300),
@ -188,12 +188,11 @@ void Rover::update_trigger(void)
{ {
#if CAMERA == ENABLED #if CAMERA == ENABLED
camera.trigger_pic_cleanup(); camera.trigger_pic_cleanup();
if(camera._camera_triggered == 0 && camera._feedback_pin != -1 && check_digital_pin(camera._feedback_pin) == 0){ if (camera.check_trigger_pin()) {
gcs_send_message(MSG_CAMERA_FEEDBACK); gcs_send_message(MSG_CAMERA_FEEDBACK);
if (should_log(MASK_LOG_CAMERA)) { if (should_log(MASK_LOG_CAMERA)) {
DataFlash.Log_Write_Camera(ahrs, gps, current_loc); DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
} }
camera._camera_triggered = 1;
} }
#endif #endif
} }

2
APMrover2/Log.cpp
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@ -48,7 +48,6 @@ bool Rover::print_log_menu(void)
PLOG(COMPASS); PLOG(COMPASS);
PLOG(CAMERA); PLOG(CAMERA);
PLOG(STEERING); PLOG(STEERING);
PLOG(TRIGGER);
#undef PLOG #undef PLOG
} }
@ -128,7 +127,6 @@ int8_t Rover::select_logs(uint8_t argc, const Menu::arg *argv)
TARG(COMPASS); TARG(COMPASS);
TARG(CAMERA); TARG(CAMERA);
TARG(STEERING); TARG(STEERING);
TARG(TRIGGER);
#undef TARG #undef TARG
} }

20
APMrover2/commands_logic.cpp
View File

@ -370,16 +370,14 @@ void Rover::do_take_picture()
// log_picture - log picture taken and send feedback to GCS // log_picture - log picture taken and send feedback to GCS
void Rover::log_picture() void Rover::log_picture()
{ {
if (camera._feedback_pin == -1 ){ if (!camera.using_feedback_pin()) {
gcs_send_message(MSG_CAMERA_FEEDBACK); gcs_send_message(MSG_CAMERA_FEEDBACK);
if (should_log(MASK_LOG_CAMERA)) { if (should_log(MASK_LOG_CAMERA)) {
DataFlash.Log_Write_Camera(ahrs, gps, current_loc); DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
} }
} } else {
else { if (should_log(MASK_LOG_CAMERA)) {
camera._camera_triggered = 0; DataFlash.Log_Write_Trigger(ahrs, gps, current_loc);
if (should_log(MASK_LOG_TRIGGER)) { }
DataFlash.Log_Write_Trigger(ahrs, gps, current_loc);
}
} }
} }

1
APMrover2/defines.h
View File

@ -92,7 +92,6 @@ enum mode {
#define MASK_LOG_ARM_DISARM (1<<15) #define MASK_LOG_ARM_DISARM (1<<15)
#define MASK_LOG_WHEN_DISARMED (1UL<<16) #define MASK_LOG_WHEN_DISARMED (1UL<<16)
#define MASK_LOG_IMU_RAW (1UL<<19) #define MASK_LOG_IMU_RAW (1UL<<19)
#define MASK_LOG_TRIGGER (1UL<<20)
// Waypoint Modes // Waypoint Modes