From 5060b8bd2e1d820f02907c13127c120951228b07 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sat, 8 Sep 2012 15:13:06 +1000 Subject: [PATCH] AP_Camera: updated for new RC_Channel_aux API --- libraries/AP_Camera/AP_Camera.cpp | 11 ++++------- 1 file changed, 4 insertions(+), 7 deletions(-) diff --git a/libraries/AP_Camera/AP_Camera.cpp b/libraries/AP_Camera/AP_Camera.cpp index 06dcd54667..96994c0533 100644 --- a/libraries/AP_Camera/AP_Camera.cpp +++ b/libraries/AP_Camera/AP_Camera.cpp @@ -4,7 +4,6 @@ #include #include <../RC_Channel/RC_Channel_aux.h> -extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function extern int32_t wp_distance; extern AP_Relay relay; @@ -26,11 +25,9 @@ const AP_Param::GroupInfo AP_Camera::var_info[] PROGMEM = { void AP_Camera::servo_pic() { - if (g_rc_function[RC_Channel_aux::k_cam_trigger]) - { - g_rc_function[RC_Channel_aux::k_cam_trigger]->radio_out = g_rc_function[RC_Channel_aux::k_cam_trigger]->radio_max; - keep_cam_trigg_active_cycles = 2; // leave a message that it should be active for two event loop cycles - } + RC_Channel_aux::set_radio_to_max(RC_Channel_aux::k_cam_trigger); + // leave a message that it should be active for two event loop cycles + keep_cam_trigg_active_cycles = 2; } /// basic relay activation @@ -115,7 +112,7 @@ AP_Camera::trigger_pic_cleanup() case 0: case 2: case 3: - G_RC_AUX(k_cam_trigger)->radio_out = g_rc_function[RC_Channel_aux::k_cam_trigger]->radio_min; + RC_Channel_aux::set_radio_to_min(RC_Channel_aux::k_cam_trigger); break; case 1: relay.off();