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Rover: use should_log() for more log msgs

This commit is contained in:
Andrew Tridgell 2014-03-19 13:42:02 +11:00
parent abfcee1cef
commit 3d167b5420
3 changed files with 11 additions and 4 deletions
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2
APMrover2/APMrover2.pde
View File

@ -824,7 +824,7 @@ static void update_GPS_50Hz(void)
g_gps2->update(); g_gps2->update();
if (g_gps2->last_message_time_ms() != last_gps2_reading) { if (g_gps2->last_message_time_ms() != last_gps2_reading) {
last_gps2_reading = g_gps2->last_message_time_ms(); last_gps2_reading = g_gps2->last_message_time_ms();
if (g.log_bitmask & MASK_LOG_GPS) { if (should_log(MASK_LOG_GPS)) {
DataFlash.Log_Write_GPS2(g_gps2); DataFlash.Log_Write_GPS2(g_gps2);
} }
} }

5
APMrover2/commands_logic.pde
View File

@ -14,6 +14,11 @@ static bool verify_nav_wp(const AP_Mission::Mission_Command& cmd);
static bool static bool
start_command(const AP_Mission::Mission_Command& cmd) start_command(const AP_Mission::Mission_Command& cmd)
{ {
// log when new commands start
if (should_log(MASK_LOG_CMD)) {
Log_Write_Cmd(cmd);
}
// exit immediately if not in AUTO mode // exit immediately if not in AUTO mode
if (control_mode != AUTO) { if (control_mode != AUTO) {
return false; return false;

8
APMrover2/system.pde
View File

@ -233,8 +233,9 @@ static void init_ardupilot()
startup_ground(); startup_ground();
if (g.log_bitmask & MASK_LOG_CMD) if (should_log(MASK_LOG_CMD)) {
Log_Write_Startup(TYPE_GROUNDSTART_MSG); Log_Write_Startup(TYPE_GROUNDSTART_MSG);
}
set_mode((enum mode)g.initial_mode.get()); set_mode((enum mode)g.initial_mode.get());
@ -328,8 +329,9 @@ static void set_mode(enum mode mode)
break; break;
} }
if (g.log_bitmask & MASK_LOG_MODE) if (should_log(MASK_LOG_MODE)) {
Log_Write_Mode(); Log_Write_Mode();
}
} }
/* /*