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Arducopter: Change mode logging to use common-vehicle DataFlash library.

This commit is contained in:
Robert Lefebvre 2014-12-22 15:11:31 -05:00 committed by Randy Mackay
parent 2657610373
commit 4b86a4aeec
4 changed files with 3 additions and 23 deletions
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21
ArduCopter/Log.pde
View File

@ -397,23 +397,6 @@ static void Log_Write_Attitude()
#endif
}
struct PACKED log_Mode {
LOG_PACKET_HEADER;
uint8_t mode;
int16_t throttle_cruise;
};
// Write a mode packet
static void Log_Write_Mode(uint8_t mode)
{
struct log_Mode pkt = {
LOG_PACKET_HEADER_INIT(LOG_MODE_MSG),
mode : mode,
throttle_cruise : g.throttle_cruise,
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Startup {
LOG_PACKET_HEADER;
};
@ -577,8 +560,6 @@ static const struct LogStructure log_structure[] PROGMEM = {
"CTUN", "Ihhhffecchh", "TimeMS,ThrIn,AngBst,ThrOut,DAlt,Alt,BarAlt,DSAlt,SAlt,DCRt,CRt" },
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "HHIhBHB", "NLon,NLoop,MaxT,PMT,I2CErr,INSErr,INAVErr" },
{ LOG_MODE_MSG, sizeof(log_Mode),
"MODE", "Mh", "Mode,ThrCrs" },
{ LOG_STARTUP_MSG, sizeof(log_Startup),
"STRT", "", "" },
{ LOG_EVENT_MSG, sizeof(log_Event),
@ -637,7 +618,7 @@ static void start_logging()
DataFlash.Log_Write_Message_P(PSTR("Frame: " FRAME_CONFIG_STRING));
// log the flight mode
Log_Write_Mode(control_mode);
DataFlash.Log_Write_Mode(control_mode);
}
// enable writes
DataFlash.EnableWrites(true);

1
ArduCopter/defines.h
View File

@ -218,7 +218,6 @@ enum FlipState {
// Logging parameters
#define TYPE_AIRSTART_MSG 0x00
#define TYPE_GROUNDSTART_MSG 0x01
#define LOG_MODE_MSG 0x03
#define LOG_CONTROL_TUNING_MSG 0x04
#define LOG_NAV_TUNING_MSG 0x05
#define LOG_PERFORMANCE_MSG 0x06

2
ArduCopter/flight_mode.pde
View File

@ -99,7 +99,7 @@ static bool set_mode(uint8_t mode)
// perform any cleanup required by previous flight mode
exit_mode(control_mode, mode);
control_mode = mode;
Log_Write_Mode(control_mode);
DataFlash.Log_Write_Mode(control_mode);
#if AC_FENCE == ENABLED
// pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover

2
ArduCopter/motors.pde
View File

@ -189,7 +189,7 @@ static bool init_arm_motors()
Log_Write_Event(DATA_ARMED);
// log flight mode in case it was changed while vehicle was disarmed
Log_Write_Mode(control_mode);
DataFlash.Log_Write_Mode(control_mode);
// reenable failsafe
failsafe_enable();