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DataFlash: use compass singleton for logging

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Peter Barker 2018-06-25 21:57:09 +10:00 committed by Francisco Ferreira
parent 3e08132828
commit 4e0c6b873f
2 changed files with 12 additions and 8 deletions
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5
libraries/DataFlash/DataFlash.h
View File

@ -132,7 +132,7 @@ public:
void Log_Write_Attitude(AP_AHRS &ahrs, const Vector3f &targets); void Log_Write_Attitude(AP_AHRS &ahrs, const Vector3f &targets);
void Log_Write_AttitudeView(AP_AHRS_View &ahrs, const Vector3f &targets); void Log_Write_AttitudeView(AP_AHRS_View &ahrs, const Vector3f &targets);
void Log_Write_Current(); void Log_Write_Current();
void Log_Write_Compass(const Compass &compass, uint64_t time_us=0); void Log_Write_Compass(uint64_t time_us=0);
void Log_Write_Mode(uint8_t mode, uint8_t reason); void Log_Write_Mode(uint8_t mode, uint8_t reason);
void Log_Write_EntireMission(const AP_Mission &mission); void Log_Write_EntireMission(const AP_Mission &mission);
@ -291,8 +291,7 @@ private:
void Log_Write_IMU_instance(uint64_t time_us, void Log_Write_IMU_instance(uint64_t time_us,
uint8_t imu_instance, uint8_t imu_instance,
enum LogMessages type); enum LogMessages type);
void Log_Write_Compass_instance(const Compass &compass, void Log_Write_Compass_instance(uint64_t time_us,
uint64_t time_us,
uint8_t mag_instance, uint8_t mag_instance,
enum LogMessages type); enum LogMessages type);
void Log_Write_Current_instance(uint64_t time_us, void Log_Write_Current_instance(uint64_t time_us,

15
libraries/DataFlash/LogFile.cpp
View File

@ -1452,8 +1452,10 @@ void DataFlash_Class::Log_Write_Current()
} }
} }
void DataFlash_Class::Log_Write_Compass_instance(const Compass &compass, const uint64_t time_us, const uint8_t mag_instance, const enum LogMessages type) void DataFlash_Class::Log_Write_Compass_instance(const uint64_t time_us, const uint8_t mag_instance, const enum LogMessages type)
{ {
const Compass &compass = AP::compass();
const Vector3f &mag_field = compass.get_field(mag_instance); const Vector3f &mag_field = compass.get_field(mag_instance);
const Vector3f &mag_offsets = compass.get_offsets(mag_instance); const Vector3f &mag_offsets = compass.get_offsets(mag_instance);
const Vector3f &mag_motor_offsets = compass.get_motor_offsets(mag_instance); const Vector3f &mag_motor_offsets = compass.get_motor_offsets(mag_instance);
@ -1476,19 +1478,22 @@ void DataFlash_Class::Log_Write_Compass_instance(const Compass &compass, const u
} }
// Write a Compass packet // Write a Compass packet
void DataFlash_Class::Log_Write_Compass(const Compass &compass, uint64_t time_us) void DataFlash_Class::Log_Write_Compass(uint64_t time_us)
{ {
if (time_us == 0) { if (time_us == 0) {
time_us = AP_HAL::micros64(); time_us = AP_HAL::micros64();
} }
Log_Write_Compass_instance(compass, time_us, 0, LOG_COMPASS_MSG); const Compass &compass = AP::compass();
if (compass.get_count() > 0) {
Log_Write_Compass_instance(time_us, 0, LOG_COMPASS_MSG);
}
if (compass.get_count() > 1) { if (compass.get_count() > 1) {
Log_Write_Compass_instance(compass, time_us, 1, LOG_COMPASS2_MSG); Log_Write_Compass_instance(time_us, 1, LOG_COMPASS2_MSG);
} }
if (compass.get_count() > 2) { if (compass.get_count() > 2) {
Log_Write_Compass_instance(compass, time_us, 2, LOG_COMPASS3_MSG); Log_Write_Compass_instance(time_us, 2, LOG_COMPASS3_MSG);
} }
} }