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Rover: move logging of PM messages to AP_Scheduler

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Peter Barker 2017-11-16 14:27:29 +11:00 committed by Andrew Tridgell
parent 980fbf6cfb
commit 55c27dfc56
3 changed files with 1 additions and 41 deletions
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6
APMrover2/APMrover2.cpp
View File

@ -254,11 +254,7 @@ void Rover::update_aux(void)
void Rover::perf_update()
{
if (should_log(MASK_LOG_PM)) {
Log_Write_Performance();
}
scheduler.update_logging();
perf_info.reset();
scheduler.update_logging(should_log(MASK_LOG_PM));
}
/*

35
APMrover2/Log.cpp
View File

@ -4,39 +4,6 @@
#if LOGGING_ENABLED == ENABLED
struct PACKED log_Performance {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t num_long_running;
uint16_t num_loops;
uint32_t max_time;
int16_t gyro_drift_x;
int16_t gyro_drift_y;
int16_t gyro_drift_z;
uint8_t i2c_lockup_count;
uint16_t ins_error_count;
uint32_t mem_avail;
};
// Write a performance monitoring packet. Total length : 19 bytes
void Rover::Log_Write_Performance()
{
struct log_Performance pkt = {
LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG),
time_us : AP_HAL::micros64(),
num_long_running : scheduler.perf_info.get_num_long_running(),
num_loops : scheduler.perf_info.get_num_loops(),
max_time : scheduler.perf_info.get_max_time(),
gyro_drift_x : (int16_t)(ahrs.get_gyro_drift().x * 1000),
gyro_drift_y : (int16_t)(ahrs.get_gyro_drift().y * 1000),
gyro_drift_z : (int16_t)(ahrs.get_gyro_drift().z * 1000),
i2c_lockup_count: 0,
ins_error_count : ins.error_count(),
hal.util->available_memory()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Steering {
LOG_PACKET_HEADER;
uint64_t time_us;
@ -342,8 +309,6 @@ void Rover::Log_Write_Proximity()
// units and "Format characters" for field type information
const LogStructure Rover::log_structure[] = {
LOG_COMMON_STRUCTURES,
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "QIHIhhhBHI", "TimeUS,LTime,NLoop,MaxT,GDx,GDy,GDz,I2CErr,INSErr,Mem", "ss-------b", "FC-------0" },
{ LOG_STARTUP_MSG, sizeof(log_Startup),
"STRT", "QBH", "TimeUS,SType,CTot", "s--", "F--" },
{ LOG_THR_MSG, sizeof(log_Throttle),

1
APMrover2/defines.h
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@ -55,7 +55,6 @@ enum mode {
// Logging parameters
#define LOG_THR_MSG 0x01
#define LOG_NTUN_MSG 0x02
#define LOG_PERFORMANCE_MSG 0x03
#define LOG_STARTUP_MSG 0x06
#define LOG_RANGEFINDER_MSG 0x07
#define LOG_ARM_DISARM_MSG 0x08