diff --git a/libraries/GCS_MAVLink/GCS.cpp b/libraries/GCS_MAVLink/GCS.cpp index f79133297f..ee191bdef2 100644 --- a/libraries/GCS_MAVLink/GCS.cpp +++ b/libraries/GCS_MAVLink/GCS.cpp @@ -17,6 +17,7 @@ #include #include #include +#include #include "MissionItemProtocol_Waypoints.h" #include "MissionItemProtocol_Rally.h" diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp index b5afa34ea0..e72ed983fa 100644 --- a/libraries/GCS_MAVLink/GCS_Common.cpp +++ b/libraries/GCS_MAVLink/GCS_Common.cpp @@ -872,10 +872,12 @@ void GCS_MAVLINK::handle_radio_status(const mavlink_message_t &msg, bool log_rad } #endif +#if HAL_LOGGING_ENABLED //log rssi, noise, etc if logging Performance monitoring data if (log_radio) { AP::logger().Write_Radio(packet); } +#endif } void GCS_MAVLINK::handle_mission_item(const mavlink_message_t &msg) @@ -1838,6 +1840,7 @@ GCS_MAVLINK::update_receive(uint32_t max_time_us) } } +#if HAL_LOGGING_ENABLED // consider logging mavlink stats: if (is_active() || is_streaming()) { if (tnow - last_mavlink_stats_logged > 1000) { @@ -1845,6 +1848,7 @@ GCS_MAVLINK::update_receive(uint32_t max_time_us) last_mavlink_stats_logged = tnow; } } +#endif #if GCS_DEBUG_SEND_MESSAGE_TIMINGS @@ -1921,6 +1925,7 @@ GCS_MAVLINK::update_receive(uint32_t max_time_us) #endif } +#if HAL_LOGGING_ENABLED /* record stats about this link to logger */ @@ -1957,6 +1962,7 @@ void GCS_MAVLINK::log_mavlink_stats() AP::logger().WriteBlock(&pkt, sizeof(pkt)); } +#endif /* send the SYSTEM_TIME message @@ -2279,12 +2285,14 @@ void GCS::send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list, u } } while (false); +#if HAL_LOGGING_ENABLED // given we don't really know what these methods get up to, we // don't hold the statustext semaphore while doing them: AP_Logger *logger = AP_Logger::get_singleton(); if (logger != nullptr) { logger->Write_Message(first_piece_of_text); } +#endif #if AP_FRSKY_TELEM_ENABLED frsky = AP::frsky_telem(); @@ -3394,13 +3402,15 @@ void GCS_MAVLINK::handle_timesync(const mavlink_message_t &msg) // response to an ancient request... return; } - const uint64_t round_trip_time_us = (timesync_receive_timestamp_ns() - _timesync_request.sent_ts1)*0.001f; #if 0 gcs().send_text(MAV_SEVERITY_INFO, "timesync response sysid=%u (latency=%fms)", msg.sysid, round_trip_time_us*0.001f); #endif + +#if HAL_LOGGING_ENABLED + const uint64_t round_trip_time_us = (timesync_receive_timestamp_ns() - _timesync_request.sent_ts1)*0.001f; AP_Logger *logger = AP_Logger::get_singleton(); if (logger != nullptr) { AP::logger().Write( @@ -3414,6 +3424,7 @@ void GCS_MAVLINK::handle_timesync(const mavlink_message_t &msg) round_trip_time_us ); } +#endif // HAL_LOGGING_ENABLED return; } @@ -3452,6 +3463,7 @@ void GCS_MAVLINK::send_timesync() void GCS_MAVLINK::handle_statustext(const mavlink_message_t &msg) const { +#if HAL_LOGGING_ENABLED AP_Logger *logger = AP_Logger::get_singleton(); if (logger == nullptr) { return; @@ -3476,6 +3488,7 @@ void GCS_MAVLINK::handle_statustext(const mavlink_message_t &msg) const memcpy(&text[offset], packet.text, MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN); logger->Write_Message(text); +#endif } @@ -3484,6 +3497,7 @@ void GCS_MAVLINK::handle_statustext(const mavlink_message_t &msg) const */ void GCS_MAVLINK::handle_named_value(const mavlink_message_t &msg) const { +#if HAL_LOGGING_ENABLED auto *logger = AP_Logger::get_singleton(); if (logger == nullptr) { return; @@ -3499,6 +3513,7 @@ void GCS_MAVLINK::handle_named_value(const mavlink_message_t &msg) const p.value, msg.sysid, msg.compid); +#endif } #if AP_RTC_ENABLED @@ -3546,7 +3561,9 @@ void GCS_MAVLINK::set_ekf_origin(const Location& loc) return; } +#if HAL_LOGGING_ENABLED ahrs.Log_Write_Home_And_Origin(); +#endif // send ekf origin to GCS if (!try_send_message(MSG_ORIGIN)) { @@ -3961,6 +3978,7 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg) case MAVLINK_MSG_ID_TIMESYNC: handle_timesync(msg); break; +#if HAL_LOGGING_ENABLED case MAVLINK_MSG_ID_LOG_REQUEST_LIST: case MAVLINK_MSG_ID_LOG_REQUEST_DATA: case MAVLINK_MSG_ID_LOG_ERASE: @@ -3968,6 +3986,7 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg) case MAVLINK_MSG_ID_REMOTE_LOG_BLOCK_STATUS: AP::logger().handle_mavlink_msg(*this, msg); break; +#endif case MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL: handle_file_transfer_protocol(msg); @@ -4923,10 +4942,12 @@ void GCS_MAVLINK::handle_command_long(const mavlink_message_t &msg) msg.sysid, msg.compid); +#if HAL_LOGGING_ENABLED // log the packet: mavlink_command_int_t packet_int; convert_COMMAND_LONG_to_COMMAND_INT(packet, packet_int); AP::logger().Write_Command(packet_int, msg.sysid, msg.compid, result, true); +#endif hal.util->persistent_data.last_mavlink_cmd = 0; } @@ -5313,7 +5334,9 @@ void GCS_MAVLINK::handle_command_int(const mavlink_message_t &msg) msg.sysid, msg.compid); +#if HAL_LOGGING_ENABLED AP::logger().Write_Command(packet, msg.sysid, msg.compid, result); +#endif hal.util->persistent_data.last_mavlink_cmd = 0; } diff --git a/libraries/GCS_MAVLink/GCS_Param.cpp b/libraries/GCS_MAVLink/GCS_Param.cpp index 75cc85b63f..a4c8c1df51 100644 --- a/libraries/GCS_MAVLink/GCS_Param.cpp +++ b/libraries/GCS_MAVLink/GCS_Param.cpp @@ -314,11 +314,13 @@ void GCS_MAVLINK::handle_param_set(const mavlink_message_t &msg) if (force_save && (parameter_flags & AP_PARAM_FLAG_ENABLE)) { AP_Param::invalidate_count(); } - + +#if HAL_LOGGING_ENABLED AP_Logger *logger = AP_Logger::get_singleton(); if (logger != nullptr) { logger->Write_Parameter(key, vp->cast_to_float(var_type)); } +#endif } void GCS_MAVLINK::send_parameter_value(const char *param_name, ap_var_type param_type, float param_value) @@ -351,11 +353,13 @@ void GCS::send_parameter_value(const char *param_name, ap_var_type param_type, f gcs().send_to_active_channels(MAVLINK_MSG_ID_PARAM_VALUE, (const char *)&packet); +#if HAL_LOGGING_ENABLED // also log to AP_Logger AP_Logger *logger = AP_Logger::get_singleton(); if (logger != nullptr) { logger->Write_Parameter(param_name, param_value); } +#endif } diff --git a/libraries/GCS_MAVLink/MissionItemProtocol_Rally.cpp b/libraries/GCS_MAVLink/MissionItemProtocol_Rally.cpp index 8c92718845..ee33e55188 100644 --- a/libraries/GCS_MAVLink/MissionItemProtocol_Rally.cpp +++ b/libraries/GCS_MAVLink/MissionItemProtocol_Rally.cpp @@ -43,7 +43,9 @@ MAV_MISSION_RESULT MissionItemProtocol_Rally::append_item(const mavlink_mission_ MAV_MISSION_RESULT MissionItemProtocol_Rally::complete(const GCS_MAVLINK &_link) { +#if HAL_LOGGING_ENABLED AP::logger().Write_Rally(); +#endif return MAV_MISSION_ACCEPTED; } diff --git a/libraries/GCS_MAVLink/MissionItemProtocol_Waypoints.cpp b/libraries/GCS_MAVLink/MissionItemProtocol_Waypoints.cpp index 311b27e157..3605dc152b 100644 --- a/libraries/GCS_MAVLink/MissionItemProtocol_Waypoints.cpp +++ b/libraries/GCS_MAVLink/MissionItemProtocol_Waypoints.cpp @@ -58,7 +58,9 @@ bool MissionItemProtocol_Waypoints::clear_all_items() MAV_MISSION_RESULT MissionItemProtocol_Waypoints::complete(const GCS_MAVLINK &_link) { _link.send_text(MAV_SEVERITY_INFO, "Flight plan received"); +#if HAL_LOGGING_ENABLED AP::logger().Write_EntireMission(); +#endif return MAV_MISSION_ACCEPTED; }