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DataFlash: convert to new GPS API

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This commit is contained in:
Andrew Tridgell 2014-03-30 22:00:11 +11:00
parent 368daf89f1
commit 31d3b6555f
2 changed files with 37 additions and 37 deletions
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3
libraries/DataFlash/DataFlash.h
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@ -48,8 +48,7 @@ public:
void EnableWrites(bool enable) { _writes_enabled = enable; } void EnableWrites(bool enable) { _writes_enabled = enable; }
void Log_Write_Format(const struct LogStructure *structure); void Log_Write_Format(const struct LogStructure *structure);
void Log_Write_Parameter(const char *name, float value); void Log_Write_Parameter(const char *name, float value);
void Log_Write_GPS(const GPS *gps, int32_t relative_alt); void Log_Write_GPS(const AP_GPS &gps, int32_t relative_alt);
void Log_Write_GPS2(const GPS *gps);
void Log_Write_IMU(const AP_InertialSensor &ins); void Log_Write_IMU(const AP_InertialSensor &ins);
void Log_Write_RCIN(void); void Log_Write_RCIN(void);
void Log_Write_RCOUT(void); void Log_Write_RCOUT(void);

71
libraries/DataFlash/LogFile.cpp
View File

@ -662,48 +662,49 @@ void DataFlash_Class::Log_Write_Parameters(void)
// Write an GPS packet // Write an GPS packet
void DataFlash_Class::Log_Write_GPS(const GPS *gps, int32_t relative_alt) void DataFlash_Class::Log_Write_GPS(const AP_GPS &gps, int32_t relative_alt)
{ {
const struct Location &loc = gps.location(0);
struct log_GPS pkt = { struct log_GPS pkt = {
LOG_PACKET_HEADER_INIT(LOG_GPS_MSG), LOG_PACKET_HEADER_INIT(LOG_GPS_MSG),
status : (uint8_t)gps->status(), status : (uint8_t)gps.status(0),
gps_week_ms : gps->time_week_ms, gps_week_ms : gps.time_week_ms(0),
gps_week : gps->time_week, gps_week : gps.time_week(0),
num_sats : gps->num_sats, num_sats : gps.num_sats(0),
hdop : gps->hdop, hdop : gps.get_hdop(0),
latitude : gps->latitude, latitude : loc.lat,
longitude : gps->longitude, longitude : loc.lng,
rel_altitude : relative_alt, rel_altitude : relative_alt,
altitude : gps->altitude_cm, altitude : loc.alt,
ground_speed : gps->ground_speed_cm, ground_speed : (uint32_t)(gps.ground_speed(0) * 100),
ground_course : gps->ground_course_cd, ground_course : gps.ground_course_cd(0),
vel_z : gps->velocity_down(), vel_z : gps.velocity(0).z,
apm_time : hal.scheduler->millis() apm_time : hal.scheduler->millis()
}; };
WriteBlock(&pkt, sizeof(pkt)); WriteBlock(&pkt, sizeof(pkt));
} #if HAL_CPU_CLASS > HAL_CPU_CLASS_16
if (gps.num_sensors() > 1) {
// Write a GPS2 packet const struct Location &loc2 = gps.location(1);
void DataFlash_Class::Log_Write_GPS2(const GPS *gps) struct log_GPS2 pkt2 = {
{ LOG_PACKET_HEADER_INIT(LOG_GPS2_MSG),
struct log_GPS2 pkt = { status : (uint8_t)gps.status(1),
LOG_PACKET_HEADER_INIT(LOG_GPS2_MSG), gps_week_ms : gps.time_week_ms(1),
status : (uint8_t)gps->status(), gps_week : gps.time_week(1),
gps_week_ms : gps->time_week_ms, num_sats : gps.num_sats(1),
gps_week : gps->time_week, hdop : gps.get_hdop(1),
num_sats : gps->num_sats, latitude : loc2.lat,
hdop : gps->hdop, longitude : loc2.lng,
latitude : gps->latitude, altitude : loc2.alt,
longitude : gps->longitude, ground_speed : (uint32_t)(gps.ground_speed(1)*100),
altitude : gps->altitude_cm, ground_course : gps.ground_course_cd(1),
ground_speed : gps->ground_speed_cm, vel_z : gps.velocity(1).z,
ground_course : gps->ground_course_cd, apm_time : hal.scheduler->millis(),
vel_z : gps->velocity_down(), dgps_numch : 0,
apm_time : hal.scheduler->millis(), dgps_age : 0
dgps_numch : 0, };
dgps_age : 0 WriteBlock(&pkt2, sizeof(pkt2));
}; }
WriteBlock(&pkt, sizeof(pkt)); #endif
} }
// Write an RCIN packet // Write an RCIN packet