From 01773d90259191ba4e2cb89dc7183949ed5e9372 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 27 Jun 2019 17:23:37 +1000
Subject: [PATCH] AP_Camera: use singletons for relay and ahrs insead of
 storing references

---
 libraries/AP_Camera/AP_Camera.cpp | 23 ++++++++++++++++++-----
 libraries/AP_Camera/AP_Camera.h   |  8 ++------
 2 files changed, 20 insertions(+), 11 deletions(-)

diff --git a/libraries/AP_Camera/AP_Camera.cpp b/libraries/AP_Camera/AP_Camera.cpp
index bde46339f2..4d25e91eea 100644
--- a/libraries/AP_Camera/AP_Camera.cpp
+++ b/libraries/AP_Camera/AP_Camera.cpp
@@ -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);
             }
         }
     }
diff --git a/libraries/AP_Camera/AP_Camera.h b/libraries/AP_Camera/AP_Camera.h
index a52ff1e65e..c25c2e0561 100644
--- a/libraries/AP_Camera/AP_Camera.h
+++ b/libraries/AP_Camera/AP_Camera.h
@@ -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();