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AP_Logger: RangeFinder library now does its own logging 

Since we were poking the backends directly it should probably be over
there
This commit is contained in:
Peter Barker 2019-04-05 20:19:37 +11:00 committed by Peter Barker
parent dd567ad18a
commit 540d4ae796
2 changed files with 0 additions and 22 deletions
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2
libraries/AP_Logger/AP_Logger.h
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@ -11,7 +11,6 @@
#include <AP_Mission/AP_Mission.h>
#include <AP_BattMonitor/AP_BattMonitor.h>
#include <AP_RPM/AP_RPM.h>
#include <AP_RangeFinder/AP_RangeFinder.h>
#include <AP_Logger/LogStructure.h>
#include <AP_Motors/AP_Motors.h>
#include <AP_Rally/AP_Rally.h>
@ -219,7 +218,6 @@ public:
void Write_Error(LogErrorSubsystem sub_system,
LogErrorCode error_code);
void Write_GPS(uint8_t instance, uint64_t time_us=0);
void Write_RFND(const RangeFinder &rangefinder);
void Write_IMU();
void Write_IMUDT(uint64_t time_us, uint8_t imu_mask);
bool Write_ISBH(uint16_t seqno,

20
libraries/AP_Logger/LogFile.cpp
View File

@ -10,7 +10,6 @@
#include <AP_Motors/AP_Motors.h>
#include <AC_AttitudeControl/AC_AttitudeControl.h>
#include <AC_AttitudeControl/AC_PosControl.h>
#include <AP_RangeFinder/RangeFinder_Backend.h>
#include <AP_RSSI/AP_RSSI.h>
#include "AP_Logger.h"
@ -176,25 +175,6 @@ void AP_Logger::Write_GPS(uint8_t i, uint64_t time_us)
}
// Write an RFND (rangefinder) packet
void AP_Logger::Write_RFND(const RangeFinder &rangefinder)
{
AP_RangeFinder_Backend *s0 = rangefinder.get_backend(0);
AP_RangeFinder_Backend *s1 = rangefinder.get_backend(1);
struct log_RFND pkt = {
LOG_PACKET_HEADER_INIT((uint8_t)(LOG_RFND_MSG)),
time_us : AP_HAL::micros64(),
dist1 : s0 ? s0->distance_cm() : (uint16_t)0,
status1 : s0 ? (uint8_t)s0->status() : (uint8_t)0,
orient1 : s0 ? s0->orientation() : ROTATION_NONE,
dist2 : s1 ? s1->distance_cm() : (uint16_t)0,
status2 : s1 ? (uint8_t)s1->status() : (uint8_t)0,
orient2 : s1 ? s1->orientation() : ROTATION_NONE,
};
WriteBlock(&pkt, sizeof(pkt));
}
// Write an RCIN packet
void AP_Logger::Write_RCIN(void)
{