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ArduCopter: move logger object up to AP_Vehicle

This commit is contained in:
Peter Barker 2024-02-07 20:50:34 +11:00 committed by Andrew Tridgell
parent 0694154f1c
commit 4e97561d5b
5 changed files with 17 additions and 23 deletions
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3
ArduCopter/Copter.cpp
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@ -820,9 +820,6 @@ bool Copter::get_rate_ef_targets(Vector3f& rate_ef_targets) const
*/ */
Copter::Copter(void) Copter::Copter(void)
: :
#if HAL_LOGGING_ENABLED
logger(g.log_bitmask),
#endif
flight_modes(&g.flight_mode1), flight_modes(&g.flight_mode1),
simple_cos_yaw(1.0f), simple_cos_yaw(1.0f),
super_simple_cos_yaw(1.0), super_simple_cos_yaw(1.0),

12
ArduCopter/Copter.h
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@ -251,10 +251,6 @@ private:
RC_Channel *channel_throttle; RC_Channel *channel_throttle;
RC_Channel *channel_yaw; RC_Channel *channel_yaw;
#if HAL_LOGGING_ENABLED
AP_Logger logger;
#endif
// flight modes convenience array // flight modes convenience array
AP_Int8 *flight_modes; AP_Int8 *flight_modes;
const uint8_t num_flight_modes = 6; const uint8_t num_flight_modes = 6;
@ -846,6 +842,13 @@ private:
void standby_update(); void standby_update();
#if HAL_LOGGING_ENABLED #if HAL_LOGGING_ENABLED
// methods for AP_Vehicle:
const AP_Int32 &get_log_bitmask() override { return g.log_bitmask; }
const struct LogStructure *get_log_structures() const override {
return log_structure;
}
uint8_t get_num_log_structures() const override;
// Log.cpp // Log.cpp
void Log_Write_Control_Tuning(); void Log_Write_Control_Tuning();
void Log_Write_Attitude(); void Log_Write_Attitude();
@ -866,7 +869,6 @@ private:
void Log_Write_SysID_Setup(uint8_t systemID_axis, float waveform_magnitude, float frequency_start, float frequency_stop, float time_fade_in, float time_const_freq, float time_record, float time_fade_out); void Log_Write_SysID_Setup(uint8_t systemID_axis, float waveform_magnitude, float frequency_start, float frequency_stop, float time_fade_in, float time_const_freq, float time_record, float time_fade_out);
void Log_Write_SysID_Data(float waveform_time, float waveform_sample, float waveform_freq, float angle_x, float angle_y, float angle_z, float accel_x, float accel_y, float accel_z); void Log_Write_SysID_Data(float waveform_time, float waveform_sample, float waveform_freq, float angle_x, float angle_y, float angle_z, float accel_x, float accel_y, float accel_z);
void Log_Write_Vehicle_Startup_Messages(); void Log_Write_Vehicle_Startup_Messages();
void log_init(void);
#endif // HAL_LOGGING_ENABLED #endif // HAL_LOGGING_ENABLED
// mode.cpp // mode.cpp

10
ArduCopter/Log.cpp
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@ -560,6 +560,11 @@ const struct LogStructure Copter::log_structure[] = {
"GUIA", "QBffffffff", "TimeUS,Type,Roll,Pitch,Yaw,RollRt,PitchRt,YawRt,Thrust,ClimbRt", "s-dddkkk-n", "F-000000-0" , true }, "GUIA", "QBffffffff", "TimeUS,Type,Roll,Pitch,Yaw,RollRt,PitchRt,YawRt,Thrust,ClimbRt", "s-dddkkk-n", "F-000000-0" , true },
}; };
uint8_t Copter::get_num_log_structures() const
{
return ARRAY_SIZE(log_structure);
}
void Copter::Log_Write_Vehicle_Startup_Messages() void Copter::Log_Write_Vehicle_Startup_Messages()
{ {
// only 200(?) bytes are guaranteed by AP_Logger // only 200(?) bytes are guaranteed by AP_Logger
@ -571,9 +576,4 @@ void Copter::Log_Write_Vehicle_Startup_Messages()
gps.Write_AP_Logger_Log_Startup_messages(); gps.Write_AP_Logger_Log_Startup_messages();
} }
void Copter::log_init(void)
{
logger.Init(log_structure, ARRAY_SIZE(log_structure));
}
#endif // HAL_LOGGING_ENABLED #endif // HAL_LOGGING_ENABLED

11
ArduCopter/Parameters.cpp
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@ -554,12 +554,6 @@ const AP_Param::Info Copter::var_info[] = {
GOBJECT(camera_mount, "MNT", AP_Mount), GOBJECT(camera_mount, "MNT", AP_Mount),
#endif #endif
#if HAL_LOGGING_ENABLED
// @Group: LOG
// @Path: ../libraries/AP_Logger/AP_Logger.cpp
GOBJECT(logger, "LOG", AP_Logger),
#endif
// @Group: BATT // @Group: BATT
// @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
GOBJECT(battery, "BATT", AP_BattMonitor), GOBJECT(battery, "BATT", AP_BattMonitor),
@ -1410,6 +1404,11 @@ void Copter::load_parameters(void)
} }
#endif #endif
// PARAMETER_CONVERSION - Added: Feb-2024 for Copter-4.6
#if HAL_LOGGING_ENABLED
AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
#endif
hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before)); hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
// setup AP_Param frame type flags // setup AP_Param frame type flags

4
ArduCopter/system.cpp
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@ -44,10 +44,6 @@ void Copter::init_ardupilot()
osd.init(); osd.init();
#endif #endif
#if HAL_LOGGING_ENABLED
log_init();
#endif
// update motor interlock state // update motor interlock state
update_using_interlock(); update_using_interlock();