mirror of https://github.com/ArduPilot/ardupilot
AP_GPS: add support for AP_Logger into AP_Periph
This commit is contained in:
parent
c11a6bbb47
commit
15cd41ca19
|
@ -755,7 +755,7 @@ AP_GPS::GPS_Status AP_GPS::highest_supported_status(uint8_t instance) const
|
||||||
|
|
||||||
bool AP_GPS::should_log() const
|
bool AP_GPS::should_log() const
|
||||||
{
|
{
|
||||||
#ifndef HAL_BUILD_AP_PERIPH
|
#if HAL_LOGGING_ENABLED
|
||||||
AP_Logger *logger = AP_Logger::get_singleton();
|
AP_Logger *logger = AP_Logger::get_singleton();
|
||||||
if (logger == nullptr) {
|
if (logger == nullptr) {
|
||||||
return false;
|
return false;
|
||||||
|
@ -891,11 +891,13 @@ void AP_GPS::update_instance(uint8_t instance)
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
#ifndef HAL_BUILD_AP_PERIPH
|
#if HAL_LOGGING_ENABLED
|
||||||
if (data_should_be_logged && should_log()) {
|
if (data_should_be_logged && should_log()) {
|
||||||
Write_GPS(instance);
|
Write_GPS(instance);
|
||||||
}
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef HAL_BUILD_AP_PERIPH
|
||||||
if (state[instance].status >= GPS_OK_FIX_3D) {
|
if (state[instance].status >= GPS_OK_FIX_3D) {
|
||||||
const uint64_t now = time_epoch_usec(instance);
|
const uint64_t now = time_epoch_usec(instance);
|
||||||
if (now != 0) {
|
if (now != 0) {
|
||||||
|
@ -1743,7 +1745,7 @@ void AP_GPS::calc_blended_state(void)
|
||||||
_blended_antenna_offset.zero();
|
_blended_antenna_offset.zero();
|
||||||
_blended_lag_sec = 0;
|
_blended_lag_sec = 0;
|
||||||
|
|
||||||
#ifndef HAL_BUILD_AP_PERIPH
|
#if HAL_LOGGING_ENABLED
|
||||||
const uint32_t last_blended_message_time_ms = timing[GPS_BLENDED_INSTANCE].last_message_time_ms;
|
const uint32_t last_blended_message_time_ms = timing[GPS_BLENDED_INSTANCE].last_message_time_ms;
|
||||||
#endif
|
#endif
|
||||||
timing[GPS_BLENDED_INSTANCE].last_fix_time_ms = 0;
|
timing[GPS_BLENDED_INSTANCE].last_fix_time_ms = 0;
|
||||||
|
@ -1888,7 +1890,7 @@ void AP_GPS::calc_blended_state(void)
|
||||||
timing[GPS_BLENDED_INSTANCE].last_fix_time_ms = (uint32_t)temp_time_1;
|
timing[GPS_BLENDED_INSTANCE].last_fix_time_ms = (uint32_t)temp_time_1;
|
||||||
timing[GPS_BLENDED_INSTANCE].last_message_time_ms = (uint32_t)temp_time_2;
|
timing[GPS_BLENDED_INSTANCE].last_message_time_ms = (uint32_t)temp_time_2;
|
||||||
|
|
||||||
#ifndef HAL_BUILD_AP_PERIPH
|
#if HAL_LOGGING_ENABLED
|
||||||
if (timing[GPS_BLENDED_INSTANCE].last_message_time_ms > last_blended_message_time_ms &&
|
if (timing[GPS_BLENDED_INSTANCE].last_message_time_ms > last_blended_message_time_ms &&
|
||||||
should_log()) {
|
should_log()) {
|
||||||
Write_GPS(GPS_BLENDED_INSTANCE);
|
Write_GPS(GPS_BLENDED_INSTANCE);
|
||||||
|
|
Loading…
Reference in New Issue