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Plane: move Log_Write_Home_And_Origin into AP_AHRS

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This commit is contained in:
Peter Barker 2018-05-16 13:30:09 +10:00 committed by Andrew Tridgell
parent 0dc0e54767
commit 052b76d017
5 changed files with 8 additions and 27 deletions
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6
ArduPlane/GCS_Mavlink.cpp
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@ -876,7 +876,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
}
plane.ahrs.set_home(new_home_loc);
AP::ahrs().set_home_status(HOME_SET_NOT_LOCKED);
plane.Log_Write_Home_And_Origin();
AP::ahrs().Log_Write_Home_And_Origin();
gcs().send_home(new_home_loc);
result = MAV_RESULT_ACCEPTED;
gcs().send_text(MAV_SEVERITY_INFO, "Set HOME to %.6f %.6f at %um",
@ -1162,7 +1162,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
new_home_loc.alt = (int32_t)(packet.param7 * 100.0f);
plane.ahrs.set_home(new_home_loc);
AP::ahrs().set_home_status(HOME_SET_NOT_LOCKED);
plane.Log_Write_Home_And_Origin();
AP::ahrs().Log_Write_Home_And_Origin();
gcs().send_home(new_home_loc);
result = MAV_RESULT_ACCEPTED;
gcs().send_text(MAV_SEVERITY_INFO, "Set HOME to %.6f %.6f at %um",
@ -1580,7 +1580,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
new_home_loc.alt = packet.altitude / 10;
plane.ahrs.set_home(new_home_loc);
plane.ahrs.set_home_status(HOME_SET_NOT_LOCKED);
plane.Log_Write_Home_And_Origin();
plane.ahrs.Log_Write_Home_And_Origin();
gcs().send_home(new_home_loc);
gcs().send_text(MAV_SEVERITY_INFO, "Set HOME to %.6f %.6f at %um",
(double)(new_home_loc.lat*1.0e-7f),

20
ArduPlane/Log.cpp
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@ -282,23 +282,6 @@ void Plane::Log_Write_RC(void)
Log_Write_AETR();
}
// log ahrs home and EKF origin to dataflash
void Plane::Log_Write_Home_And_Origin()
{
#if AP_AHRS_NAVEKF_AVAILABLE
// log ekf origin if set
Location ekf_orig;
if (ahrs.get_origin(ekf_orig)) {
DataFlash.Log_Write_Origin(LogOriginType::ekf_origin, ekf_orig);
}
#endif
// log ahrs home if set
if (ahrs.home_is_set()) {
DataFlash.Log_Write_Origin(LogOriginType::ahrs_home, ahrs.get_home());
}
}
// type and unit information can be found in
// libraries/DataFlash/Logstructure.h; search for "log_Units" for
// units and "Format characters" for field type information
@ -344,7 +327,7 @@ void Plane::Log_Write_Vehicle_Startup_Messages()
Log_Write_Startup(TYPE_GROUNDSTART_MSG);
DataFlash.Log_Write_Mode(control_mode, control_mode_reason);
DataFlash.Log_Write_Rally(rally);
Log_Write_Home_And_Origin();
ahrs.Log_Write_Home_And_Origin();
gps.Write_DataFlash_Log_Startup_messages();
}
@ -373,7 +356,6 @@ void Plane::Log_Write_Optflow() {}
void Plane::Log_Arm_Disarm() {}
void Plane::Log_Write_RC(void) {}
void Plane::Log_Write_Home_And_Origin() {}
void Plane::Log_Write_Vehicle_Startup_Messages() {}
void Plane::log_init(void) {}

1
ArduPlane/Plane.h
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@ -801,7 +801,6 @@ private:
void Log_Write_Optflow();
void Log_Arm_Disarm();
void Log_Write_RC(void);
void Log_Write_Home_And_Origin();
void Log_Write_Vehicle_Startup_Messages();
void Log_Write_AOA_SSA();
void Log_Write_AETR();

6
ArduPlane/commands.cpp
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@ -111,7 +111,7 @@ void Plane::init_home()
ahrs.set_home(gps.location());
ahrs.set_home_status(HOME_SET_NOT_LOCKED);
Log_Write_Home_And_Origin();
ahrs.Log_Write_Home_And_Origin();
gcs().send_home(gps.location());
// Save Home to EEPROM
@ -142,7 +142,7 @@ void Plane::update_home()
Location loc;
if(ahrs.get_position(loc)) {
ahrs.set_home(loc);
Log_Write_Home_And_Origin();
ahrs.Log_Write_Home_And_Origin();
gcs().send_home(loc);
}
}
@ -169,7 +169,7 @@ void Plane::set_ekf_origin(const Location& loc)
}
// log ahrs home and ekf origin dataflash
Log_Write_Home_And_Origin();
ahrs.Log_Write_Home_And_Origin();
// send ekf origin to GCS
gcs().send_ekf_origin(loc);

2
ArduPlane/commands_logic.cpp
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@ -938,7 +938,7 @@ void Plane::do_set_home(const AP_Mission::Mission_Command& cmd)
} else {
ahrs.set_home(cmd.content.location);
ahrs.set_home_status(HOME_SET_NOT_LOCKED);
Log_Write_Home_And_Origin();
ahrs.Log_Write_Home_And_Origin();
gcs().send_home(cmd.content.location);
// send ekf origin if set
Location ekf_origin;