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DataFlash: AP_Camera functions use GPS singleton

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Peter Barker 2017-11-13 11:31:31 +11:00 committed by Francisco Ferreira
parent 7258fa81d9
commit b97ee33438
2 changed files with 9 additions and 8 deletions
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6
libraries/DataFlash/DataFlash.h
View File

@ -135,9 +135,9 @@ public:
void Log_Write_Radio(const mavlink_radio_t &packet); void Log_Write_Radio(const mavlink_radio_t &packet);
void Log_Write_Message(const char *message); void Log_Write_Message(const char *message);
void Log_Write_MessageF(const char *fmt, ...); void Log_Write_MessageF(const char *fmt, ...);
void Log_Write_CameraInfo(enum LogMessages msg, const AP_AHRS &ahrs, const AP_GPS &gps, const Location &current_loc); void Log_Write_CameraInfo(enum LogMessages msg, const AP_AHRS &ahrs, const Location &current_loc);
void Log_Write_Camera(const AP_AHRS &ahrs, const AP_GPS &gps, const Location &current_loc); void Log_Write_Camera(const AP_AHRS &ahrs, const Location &current_loc);
void Log_Write_Trigger(const AP_AHRS &ahrs, const AP_GPS &gps, const Location &current_loc); void Log_Write_Trigger(const AP_AHRS &ahrs, const Location &current_loc);
void Log_Write_ESC(void); void Log_Write_ESC(void);
void Log_Write_Airspeed(AP_Airspeed &airspeed); void Log_Write_Airspeed(AP_Airspeed &airspeed);
void Log_Write_Attitude(AP_AHRS &ahrs, const Vector3f &targets); void Log_Write_Attitude(AP_AHRS &ahrs, const Vector3f &targets);

11
libraries/DataFlash/LogFile.cpp
View File

@ -1409,7 +1409,7 @@ void DataFlash_Class::Log_Write_Radio(const mavlink_radio_t &packet)
} }
// Write a Camera packet // Write a Camera packet
void DataFlash_Class::Log_Write_CameraInfo(enum LogMessages msg, const AP_AHRS &ahrs, const AP_GPS &gps, const Location &current_loc) void DataFlash_Class::Log_Write_CameraInfo(enum LogMessages msg, const AP_AHRS &ahrs, const Location &current_loc)
{ {
int32_t altitude, altitude_rel, altitude_gps; int32_t altitude, altitude_rel, altitude_gps;
if (current_loc.flags.relative_alt) { if (current_loc.flags.relative_alt) {
@ -1419,6 +1419,7 @@ void DataFlash_Class::Log_Write_CameraInfo(enum LogMessages msg, const AP_AHRS &
altitude = current_loc.alt; altitude = current_loc.alt;
altitude_rel = current_loc.alt - ahrs.get_home().alt; altitude_rel = current_loc.alt - ahrs.get_home().alt;
} }
const AP_GPS &gps = AP::gps();
if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) { if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
altitude_gps = gps.location().alt; altitude_gps = gps.location().alt;
} else { } else {
@ -1443,15 +1444,15 @@ void DataFlash_Class::Log_Write_CameraInfo(enum LogMessages msg, const AP_AHRS &
} }
// Write a Camera packet // Write a Camera packet
void DataFlash_Class::Log_Write_Camera(const AP_AHRS &ahrs, const AP_GPS &gps, const Location &current_loc) void DataFlash_Class::Log_Write_Camera(const AP_AHRS &ahrs, const Location &current_loc)
{ {
Log_Write_CameraInfo(LOG_CAMERA_MSG, ahrs, gps, current_loc); Log_Write_CameraInfo(LOG_CAMERA_MSG, ahrs, current_loc);
} }
// Write a Trigger packet // Write a Trigger packet
void DataFlash_Class::Log_Write_Trigger(const AP_AHRS &ahrs, const AP_GPS &gps, const Location &current_loc) void DataFlash_Class::Log_Write_Trigger(const AP_AHRS &ahrs, const Location &current_loc)
{ {
Log_Write_CameraInfo(LOG_TRIGGER_MSG, ahrs, gps, current_loc); Log_Write_CameraInfo(LOG_TRIGGER_MSG, ahrs, current_loc);
} }
// Write an attitude packet // Write an attitude packet