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AP_Camera: use singletons for relay and ahrs insead of storing references

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This commit is contained in:
Peter Barker 2019-06-27 17:23:37 +10:00 committed by Andrew Tridgell
parent 05925b57ad
commit 01773d9025
2 changed files with 20 additions and 11 deletions
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23
libraries/AP_Camera/AP_Camera.cpp
View File

@ -1,4 +1,6 @@
#include "AP_Camera.h"
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Relay/AP_Relay.h>
#include <AP_Math/AP_Math.h>
#include <RC_Channel/RC_Channel.h>
@ -123,6 +125,10 @@ AP_Camera::servo_pic()
void
AP_Camera::relay_pic()
{
AP_Relay *_apm_relay = AP::relay();
if (_apm_relay == nullptr) {
return;
}
if (_relay_on) {
_apm_relay->on(0);
} else {
@ -164,7 +170,11 @@ AP_Camera::trigger_pic_cleanup()
case AP_CAMERA_TRIGGER_TYPE_SERVO:
SRV_Channels::set_output_pwm(SRV_Channel::k_cam_trigger, _servo_off_pwm);
break;
case AP_CAMERA_TRIGGER_TYPE_RELAY:
case AP_CAMERA_TRIGGER_TYPE_RELAY: {
AP_Relay *_apm_relay = AP::relay();
if (_apm_relay == nullptr) {
break;
}
if (_relay_on) {
_apm_relay->off(0);
} else {
@ -172,6 +182,7 @@ AP_Camera::trigger_pic_cleanup()
}
break;
}
}
}
if (_trigger_counter_cam_function) {
@ -274,6 +285,8 @@ void AP_Camera::control(float session, float zoom_pos, float zoom_step, float fo
*/
void AP_Camera::send_feedback(mavlink_channel_t chan)
{
const AP_AHRS &ahrs = AP::ahrs();
float altitude, altitude_rel;
if (current_loc.relative_alt) {
altitude = current_loc.alt+ahrs.get_home().alt;
@ -319,7 +332,7 @@ void AP_Camera::update()
return;
}
if (_max_roll > 0 && fabsf(ahrs.roll_sensor*1e-2f) > _max_roll) {
if (_max_roll > 0 && fabsf(AP::ahrs().roll_sensor*1e-2f) > _max_roll) {
return;
}
@ -402,11 +415,11 @@ void AP_Camera::log_picture()
if (!using_feedback_pin()) {
gcs().send_message(MSG_CAMERA_FEEDBACK);
if (logger->should_log(log_camera_bit)) {
logger->Write_Camera(ahrs, current_loc);
logger->Write_Camera(current_loc);
}
} else {
if (logger->should_log(log_camera_bit)) {
logger->Write_Trigger(ahrs, current_loc);
logger->Write_Trigger(current_loc);
}
}
}
@ -447,7 +460,7 @@ void AP_Camera::update_trigger()
if (logger->should_log(log_camera_bit)) {
uint32_t tdiff = AP_HAL::micros() - timestamp32;
uint64_t timestamp = AP_HAL::micros64();
logger->Write_Camera(ahrs, current_loc, timestamp - tdiff);
logger->Write_Camera(current_loc, timestamp - tdiff);
}
}
}

8
libraries/AP_Camera/AP_Camera.h
View File

@ -5,7 +5,7 @@
#include <AP_Param/AP_Param.h>
#include <AP_Common/AP_Common.h>
#include <AP_Relay/AP_Relay.h>
#include <AP_AHRS/AP_AHRS.h>
#include <GCS_MAVLink/GCS.h>
#define AP_CAMERA_TRIGGER_TYPE_SERVO 0
#define AP_CAMERA_TRIGGER_TYPE_RELAY 1
@ -24,13 +24,11 @@
class AP_Camera {
public:
AP_Camera(AP_Relay *obj_relay, uint32_t _log_camera_bit, const struct Location &_loc, const AP_AHRS &_ahrs)
AP_Camera(uint32_t _log_camera_bit, const struct Location &_loc)
: log_camera_bit(_log_camera_bit)
, current_loc(_loc)
, ahrs(_ahrs)
{
AP_Param::setup_object_defaults(this, var_info);
_apm_relay = obj_relay;
_singleton = this;
}
@ -91,7 +89,6 @@ private:
AP_Int16 _servo_off_pwm; // PWM value to move servo to when shutter is deactivated
uint8_t _trigger_counter; // count of number of cycles shutter has been held open
uint8_t _trigger_counter_cam_function; // count of number of cycles alternative camera function has been held open
AP_Relay *_apm_relay; // pointer to relay object from the base class Relay.
AP_Int8 _auto_mode_only; // if 1: trigger by distance only if in AUTO mode.
AP_Int8 _type; // Set the type of camera in use, will open additional parameters if set
bool _is_in_auto_mode; // true if in AUTO mode
@ -124,7 +121,6 @@ private:
uint32_t log_camera_bit;
const struct Location &current_loc;
const AP_AHRS &ahrs;
// entry point to trip local shutter (e.g. by relay or servo)
void trigger_pic();