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AP_GPS: moved UBX log headers to DataFlash 

headers were not always being written
This commit is contained in:
Andrew Tridgell 2014-08-17 21:45:32 +10:00 committed by Randy Mackay
parent c395a6657a
commit 57956dbda2
2 changed files with 2 additions and 49 deletions
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48
libraries/AP_GPS/AP_GPS_UBLOX.cpp
View File

@ -44,8 +44,6 @@ extern const AP_HAL::HAL& hal;
#define UBLOX_HW_LOGGING 0
#endif
bool AP_GPS_UBLOX::logging_started = false;
AP_GPS_UBLOX::AP_GPS_UBLOX(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port) :
AP_GPS_Backend(_gps, _state, _port),
_step(0),
@ -249,53 +247,13 @@ AP_GPS_UBLOX::read(void)
// Private Methods /////////////////////////////////////////////////////////////
#if UBLOX_HW_LOGGING
#define LOG_MSG_UBX1 200
#define LOG_MSG_UBX2 201
struct PACKED log_Ubx1 {
LOG_PACKET_HEADER;
uint32_t timestamp;
uint8_t instance;
uint16_t noisePerMS;
uint8_t jamInd;
uint8_t aPower;
};
struct PACKED log_Ubx2 {
LOG_PACKET_HEADER;
uint32_t timestamp;
uint8_t instance;
int8_t ofsI;
uint8_t magI;
int8_t ofsQ;
uint8_t magQ;
};
static const struct LogStructure ubx_log_structures[] PROGMEM = {
{ LOG_MSG_UBX1, sizeof(log_Ubx1),
"UBX1", "IBHBB", "TimeMS,Instance,noisePerMS,jamInd,aPower" },
{ LOG_MSG_UBX2, sizeof(log_Ubx2),
"UBX2", "IBbBbB", "TimeMS,Instance,ofsI,magI,ofsQ,magQ" }
};
void AP_GPS_UBLOX::write_logging_headers(void)
{
if (!logging_started) {
logging_started = true;
gps._DataFlash->AddLogFormats(ubx_log_structures, 2);
}
}
void AP_GPS_UBLOX::log_mon_hw(void)
{
if (gps._DataFlash == NULL || !gps._DataFlash->logging_started()) {
return;
}
// log mon_hw message
write_logging_headers();
struct log_Ubx1 pkt = {
LOG_PACKET_HEADER_INIT(LOG_MSG_UBX1),
LOG_PACKET_HEADER_INIT(LOG_UBX1_MSG),
timestamp : hal.scheduler->millis(),
instance : state.instance,
noisePerMS : _buffer.mon_hw_60.noisePerMS,
@ -315,11 +273,9 @@ void AP_GPS_UBLOX::log_mon_hw2(void)
if (gps._DataFlash == NULL || !gps._DataFlash->logging_started()) {
return;
}
// log mon_hw message
write_logging_headers();
struct log_Ubx2 pkt = {
LOG_PACKET_HEADER_INIT(LOG_MSG_UBX2),
LOG_PACKET_HEADER_INIT(LOG_UBX2_MSG),
timestamp : hal.scheduler->millis(),
instance : state.instance,
ofsI : _buffer.mon_hw2.ofsI,

3
libraries/AP_GPS/AP_GPS_UBLOX.h
View File

@ -256,9 +256,6 @@ private:
bool _new_speed:1;
bool need_rate_update:1;
// have we written the logging headers to DataFlash?
static bool logging_started;
uint8_t _disable_counter;
// Buffer parse & GPS state update