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Rover: Baro does its own dataflash logging now

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This commit is contained in:
Peter Barker 2018-04-11 22:47:18 +10:00 committed by Francisco Ferreira
parent a5dc87e2af
commit 63e8fffbe4
4 changed files with 2 additions and 17 deletions
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10
APMrover2/APMrover2.cpp
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@ -51,7 +51,7 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
SCHED_TASK(set_servos, 50, 200), SCHED_TASK(set_servos, 50, 200),
SCHED_TASK(update_GPS_50Hz, 50, 300), SCHED_TASK(update_GPS_50Hz, 50, 300),
SCHED_TASK(update_GPS_10Hz, 10, 300), SCHED_TASK(update_GPS_10Hz, 10, 300),
SCHED_TASK(update_alt, 10, 200), SCHED_TASK_CLASS(AP_Baro, &rover.barometer, update, 10, 200),
SCHED_TASK_CLASS(AP_Beacon, &rover.g2.beacon, update, 50, 200), SCHED_TASK_CLASS(AP_Beacon, &rover.g2.beacon, update, 50, 200),
SCHED_TASK_CLASS(AP_Proximity, &rover.g2.proximity, update, 50, 200), SCHED_TASK_CLASS(AP_Proximity, &rover.g2.proximity, update, 50, 200),
SCHED_TASK(update_visual_odom, 50, 200), SCHED_TASK(update_visual_odom, 50, 200),
@ -178,14 +178,6 @@ void Rover::ahrs_update()
} }
} }
void Rover::update_alt()
{
barometer.update();
if (should_log(MASK_LOG_IMU)) {
Log_Write_Baro();
}
}
/* /*
check for GCS failsafe - 10Hz check for GCS failsafe - 10Hz
*/ */

6
APMrover2/Log.cpp
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@ -204,11 +204,6 @@ void Rover::Log_Write_Error(uint8_t sub_system, uint8_t error_code)
DataFlash.WriteBlock(&pkt, sizeof(pkt)); DataFlash.WriteBlock(&pkt, sizeof(pkt));
} }
void Rover::Log_Write_Baro(void)
{
DataFlash.Log_Write_Baro();
}
// log ahrs home and EKF origin to dataflash // log ahrs home and EKF origin to dataflash
void Rover::Log_Write_Home_And_Origin() void Rover::Log_Write_Home_And_Origin()
{ {
@ -345,7 +340,6 @@ void Rover::Log_Write_Attitude() {}
void Rover::Log_Write_RC(void) {} void Rover::Log_Write_RC(void) {}
void Rover::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {} void Rover::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
void Rover::Log_Write_Home_And_Origin() {} void Rover::Log_Write_Home_And_Origin() {}
void Rover::Log_Write_Baro(void) {}
void Rover::Log_Arm_Disarm() {} void Rover::Log_Arm_Disarm() {}
void Rover::Log_Write_Error(uint8_t sub_system, uint8_t error_code) {} void Rover::Log_Write_Error(uint8_t sub_system, uint8_t error_code) {}
void Rover::Log_Write_Steering() {} void Rover::Log_Write_Steering() {}

2
APMrover2/Rover.h
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@ -384,7 +384,6 @@ private:
// APMrover2.cpp // APMrover2.cpp
void stats_update(); void stats_update();
void ahrs_update(); void ahrs_update();
void update_alt();
void gcs_failsafe_check(void); void gcs_failsafe_check(void);
void update_compass(void); void update_compass(void);
void update_logging1(void); void update_logging1(void);
@ -491,7 +490,6 @@ private:
void Log_Arm_Disarm(); void Log_Arm_Disarm();
void Log_Write_RC(void); void Log_Write_RC(void);
void Log_Write_Error(uint8_t sub_system, uint8_t error_code); void Log_Write_Error(uint8_t sub_system, uint8_t error_code);
void Log_Write_Baro(void);
void Log_Write_Home_And_Origin(); void Log_Write_Home_And_Origin();
void Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target); void Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target);
void Log_Write_WheelEncoder(); void Log_Write_WheelEncoder();

1
APMrover2/system.cpp
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@ -103,6 +103,7 @@ void Rover::init_ardupilot()
init_visual_odom(); init_visual_odom();
// and baro for EKF // and baro for EKF
barometer.set_log_baro_bit(MASK_LOG_IMU);
barometer.calibrate(); barometer.calibrate();
// Do GPS init // Do GPS init