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AP_GPS: remove SBP raw logging

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takes up flash for everyone

packet definitions are invalid

newer features in ArduPilot which work for all GPS (including replay capability) are better
This commit is contained in:
Peter Barker 2025-03-09 12:47:48 +11:00 committed by Andrew Tridgell
parent 74d8bf0694
commit 434c2b3efa
5 changed files with 3 additions and 158 deletions
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60
libraries/AP_GPS/AP_GPS_SBP.cpp
View File

@ -30,7 +30,6 @@
extern const AP_HAL::HAL& hal;
#define SBP_DEBUGGING 1
#define SBP_HW_LOGGING HAL_LOGGING_ENABLED
#define SBP_TIMEOUT_HEATBEAT 4000
#define SBP_TIMEOUT_PVT 500
@ -232,10 +231,6 @@ AP_GPS_SBP::_sbp_process_message() {
// The log mask will be used to adjust or suppress logging
break;
}
#if SBP_HW_LOGGING
logging_log_raw_sbp(parser_state.msg_type, parser_state.sender_id, parser_state.msg_len, parser_state.msg_buff);
#endif
}
bool
@ -296,7 +291,7 @@ AP_GPS_SBP::_attempt_state_update()
last_full_update_cpu_ms = now;
state.rtk_iar_num_hypotheses = last_iar_num_hypotheses;
#if SBP_HW_LOGGING
#if HAL_LOGGING_ENABLED
logging_log_full_update();
#endif
ret = true;
@ -395,8 +390,7 @@ AP_GPS_SBP::_detect(struct SBP_detect_state &state, uint8_t data)
return false;
}
#if SBP_HW_LOGGING
#if HAL_LOGGING_ENABLED
void
AP_GPS_SBP::logging_log_full_update()
{
@ -415,54 +409,6 @@ AP_GPS_SBP::logging_log_full_update()
AP::logger().WriteBlock(&pkt, sizeof(pkt));
};
#endif // HAL_LOGGING_ENABLED
void
AP_GPS_SBP::logging_log_raw_sbp(uint16_t msg_type,
uint16_t sender_id,
uint8_t msg_len,
uint8_t *msg_buff) {
if (!should_log()) {
return;
}
//MASK OUT MESSAGES WE DON'T WANT TO LOG
if (( ((uint16_t) gps._sbp_logmask) & msg_type) == 0) {
return;
}
uint64_t time_us = AP_HAL::micros64();
uint8_t pages = 1;
if (msg_len > 48) {
pages += (msg_len - 48) / 104 + 1;
}
struct log_SbpRAWH pkt = {
LOG_PACKET_HEADER_INIT(LOG_MSG_SBPRAWH),
time_us : time_us,
msg_type : msg_type,
sender_id : sender_id,
index : 1,
pages : pages,
msg_len : msg_len,
};
memcpy(pkt.data, msg_buff, MIN(msg_len, 48));
AP::logger().WriteBlock(&pkt, sizeof(pkt));
for (uint8_t i = 0; i < pages - 1; i++) {
struct log_SbpRAWM pkt2 = {
LOG_PACKET_HEADER_INIT(LOG_MSG_SBPRAWM),
time_us : time_us,
msg_type : msg_type,
sender_id : sender_id,
index : uint8_t(i + 2),
pages : pages,
msg_len : msg_len,
};
memcpy(pkt2.data, &msg_buff[48 + i * 104], MIN(msg_len - (48 + i * 104), 104));
AP::logger().WriteBlock(&pkt2, sizeof(pkt2));
}
};
#endif // SBP_HW_LOGGING
#endif // AP_GPS_SBP_ENABLED

3
libraries/AP_GPS/AP_GPS_SBP.h
View File

@ -184,8 +184,5 @@ private:
// ************************************************************************
void logging_log_full_update();
void logging_log_raw_sbp(uint16_t msg_type, uint16_t sender_id, uint8_t msg_len, uint8_t *msg_buff);
};
#endif

56
libraries/AP_GPS/AP_GPS_SBP2.cpp
View File

@ -221,13 +221,6 @@ AP_GPS_SBP2::_sbp_process_message() {
default:
break;
}
#if HAL_LOGGING_ENABLED
// send all messages we receive to log, even if it's an unsupported message,
// so we can do additional post-processing from logs.
// The log mask will be used to adjust or suppress logging
logging_log_raw_sbp(parser_state.msg_type, parser_state.sender_id, parser_state.msg_len, parser_state.msg_buff);
#endif
}
int32_t
@ -466,55 +459,6 @@ AP_GPS_SBP2::logging_log_full_update()
};
AP::logger().WriteBlock(&pkt, sizeof(pkt));
};
void
AP_GPS_SBP2::logging_log_raw_sbp(uint16_t msg_type,
uint16_t sender_id,
uint8_t msg_len,
uint8_t *msg_buff) {
if (!should_log()) {
return;
}
//MASK OUT MESSAGES WE DON'T WANT TO LOG
if (( ((uint16_t) gps._sbp_logmask) & msg_type) == 0) {
return;
}
uint64_t time_us = AP_HAL::micros64();
uint8_t pages = 1;
if (msg_len > 48) {
pages += (msg_len - 48) / 104 + 1;
}
struct log_SbpRAWH pkt = {
LOG_PACKET_HEADER_INIT(LOG_MSG_SBPRAWH),
time_us : time_us,
msg_type : msg_type,
sender_id : sender_id,
index : 1,
pages : pages,
msg_len : msg_len,
};
memcpy(pkt.data, msg_buff, MIN(msg_len, 48));
AP::logger().WriteBlock(&pkt, sizeof(pkt));
for (uint8_t i = 0; i < pages - 1; i++) {
struct log_SbpRAWM pkt2 = {
LOG_PACKET_HEADER_INIT(LOG_MSG_SBPRAWM),
time_us : time_us,
msg_type : msg_type,
sender_id : sender_id,
index : uint8_t(i + 2),
pages : pages,
msg_len : msg_len,
};
memcpy(pkt2.data, &msg_buff[48 + i * 104], MIN(msg_len - (48 + i * 104), 104));
AP::logger().WriteBlock(&pkt2, sizeof(pkt2));
}
};
void
AP_GPS_SBP2::logging_ext_event() {
if (!should_log()) {

1
libraries/AP_GPS/AP_GPS_SBP2.h
View File

@ -197,7 +197,6 @@ private:
void logging_log_full_update();
void logging_ext_event();
void logging_log_raw_sbp(uint16_t msg_type, uint16_t sender_id, uint8_t msg_len, uint8_t *msg_buff);
int32_t distMod(int32_t tow1_ms, int32_t tow2_ms, int32_t mod);

41
libraries/AP_GPS/LogStructure_SBP.h
View File

@ -5,8 +5,6 @@
#define LOG_IDS_FROM_GPS_SBP \
LOG_MSG_SBPHEALTH, \
LOG_MSG_SBPRAWH, \
LOG_MSG_SBPRAWM, \
LOG_MSG_SBPEVENT
// @LoggerMessage: SBPH
@ -24,41 +22,6 @@ struct PACKED log_SbpHealth {
uint32_t last_iar_num_hypotheses;
};
// @LoggerMessage: SBRH
// @Description: Swift Raw Message Data
// @Field: TimeUS: Time since system startup
// @Field: msg_flag: Swift message type
// @Field: 1: Sender ID
// @Field: 2: index; always 1
// @Field: 3: pages; number of pages received
// @Field: 4: msg length; number of bytes received
// @Field: 5: unused; always zero
// @Field: 6: data received from device
struct PACKED log_SbpRAWH {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t msg_type;
uint16_t sender_id;
uint8_t index;
uint8_t pages;
uint8_t msg_len;
uint8_t res;
uint8_t data[48];
};
struct PACKED log_SbpRAWM {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t msg_type;
uint16_t sender_id;
uint8_t index;
uint8_t pages;
uint8_t msg_len;
uint8_t res;
uint8_t data[104];
};
struct PACKED log_SbpEvent {
LOG_PACKET_HEADER;
uint64_t time_us;
@ -73,10 +36,6 @@ struct PACKED log_SbpEvent {
#define LOG_STRUCTURE_FROM_GPS_SBP \
{ LOG_MSG_SBPHEALTH, sizeof(log_SbpHealth), \
"SBPH", "QIII", "TimeUS,CrcError,LastInject,IARhyp", "s---", "F---" , true }, \
{ LOG_MSG_SBPRAWH, sizeof(log_SbpRAWH), \
"SBRH", "QQQQQQQQ", "TimeUS,msg_flag,1,2,3,4,5,6", "s-------", "F-------" , true }, \
{ LOG_MSG_SBPRAWM, sizeof(log_SbpRAWM), \
"SBRM", "QQQQQQQQQQQQQQQ", "TimeUS,msg_flag,1,2,3,4,5,6,7,8,9,10,11,12,13", "s??????????????", "F??????????????" , true }, \
{ LOG_MSG_SBPEVENT, sizeof(log_SbpEvent), \
"SBRE", "QHIiBB", "TimeUS,GWk,GMS,ns_residual,level,quality", "s?????", "F?????" },
#else