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DataFlash: remove PX4 ESC logging code 

Left the log structure in place as we really should be using it for
telemetry-enabled ESCs
This commit is contained in:
Peter Barker 2019-01-16 12:13:49 +11:00 committed by Andrew Tridgell
parent 9e8d2d7f7d
commit 21f2b74096
2 changed files with 0 additions and 41 deletions
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4
libraries/DataFlash/DataFlash.h
View File

@ -26,10 +26,6 @@
#include <stdint.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include <uORB/topics/esc_status.h>
#endif
#include "DFMessageWriter.h"
class DataFlash_Backend;

37
libraries/DataFlash/LogFile.cpp
View File

@ -1512,43 +1512,6 @@ bool DataFlash_Backend::Log_Write_Mode(uint8_t mode, uint8_t reason)
// Write ESC status messages
void DataFlash_Class::Log_Write_ESC(void)
{
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
static int _esc_status_sub = -1;
struct esc_status_s esc_status;
if (_esc_status_sub == -1) {
// subscribe to ORB topic on first call
_esc_status_sub = orb_subscribe(ORB_ID(esc_status));
}
// check for new ESC status data
bool esc_updated = false;
orb_check(_esc_status_sub, &esc_updated);
if (esc_updated && (OK == orb_copy(ORB_ID(esc_status), _esc_status_sub, &esc_status))) {
if (esc_status.esc_count > 8) {
esc_status.esc_count = 8;
}
uint64_t time_us = AP_HAL::micros64();
for (uint8_t i = 0; i < esc_status.esc_count; i++) {
// skip logging ESCs with a esc_address of zero, and this
// are probably not populated. The Pixhawk itself should
// be address zero
if (esc_status.esc[i].esc_address != 0) {
struct log_Esc pkt = {
LOG_PACKET_HEADER_INIT((uint8_t)(LOG_ESC1_MSG + i)),
time_us : time_us,
rpm : (int32_t)(esc_status.esc[i].esc_rpm/10),
voltage : (uint16_t)(esc_status.esc[i].esc_voltage*100.0f + .5f),
current : (uint16_t)(esc_status.esc[i].esc_current*100.0f + .5f),
temperature : (int16_t)(esc_status.esc[i].esc_temperature*100.0f + .5f),
current_tot : 0
};
WriteBlock(&pkt, sizeof(pkt));
}
}
}
#endif // CONFIG_HAL_BOARD
}
// Write a AIRSPEED packet