Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

Sub: Fix logging bug where only one log was created after first arm

Browse Source
This commit is contained in:
Jacob Walser 2017-04-14 00:13:31 -04:00
parent 8b3c414ca7
commit 01e01d1df9
2 changed files with 11 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
ArduSub/Log.cpp
View File

@ -468,12 +468,17 @@ void Sub::Log_Write_Vehicle_Startup_Messages()
// start a new log
void Sub::start_logging()
{
if (g.log_bitmask != 0) {
if (g.log_bitmask != 0 && !in_log_download) {
if (!ap.logging_started) {
ap.logging_started = true;
DataFlash.set_mission(&mission);
DataFlash.setVehicle_Startup_Log_Writer(FUNCTOR_BIND(&sub, &Sub::Log_Write_Vehicle_Startup_Messages, void));
DataFlash.StartNewLog();
} else if (!DataFlash.logging_started()) {
hal.console->println("Starting new log");
// dataflash may have stopped logging - when we get_log_data,
// for example. Try to restart:
DataFlash.StartNewLog();
}
// enable writes
DataFlash.EnableWrites(true);

5
ArduSub/motors.cpp
View File

@ -12,6 +12,7 @@ void Sub::enable_motor_output()
// returns false if arming failed because of pre-arm checks, arming checks or a gyro calibration failure
bool Sub::init_arm_motors(bool arming_from_gcs)
{
start_logging();
static bool in_arm_motors = false;
// exit immediately if already in this function
@ -27,6 +28,9 @@ bool Sub::init_arm_motors(bool arming_from_gcs)
return false;
}
// let dataflash know that we're armed (it may open logs e.g.)
DataFlash_Class::instance()->set_vehicle_armed(true);
// disable cpu failsafe because initialising everything takes a while
mainloop_failsafe_disable();
@ -118,6 +122,7 @@ void Sub::init_disarm_motors()
if (!DataFlash.log_while_disarmed()) {
DataFlash.EnableWrites(false);
}
DataFlash_Class::instance()->set_vehicle_armed(false);
// disable gps velocity based centrefugal force compensation
ahrs.set_correct_centrifugal(false);