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AP_WheelEncoder: move wheelEncoder logging to library

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This commit is contained in:
Tom Pittenger 2019-02-04 22:00:40 -07:00 committed by Randy Mackay
parent 1110fad8e7
commit 66778dbf63
2 changed files with 23 additions and 0 deletions
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20
libraries/AP_WheelEncoder/AP_WheelEncoder.cpp
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@ -15,6 +15,7 @@
#include "AP_WheelEncoder.h"
#include "WheelEncoder_Quadrature.h"
#include <AP_Logger/AP_Logger.h>
extern const AP_HAL::HAL& hal;
@ -182,6 +183,25 @@ void AP_WheelEncoder::update(void)
}
}
// log wheel encoder information
void AP_WheelEncoder::Log_Write()
{
// return immediately if no wheel encoders are enabled
if (!enabled(0) && !enabled(1)) {
return;
}
struct log_WheelEncoder pkt = {
LOG_PACKET_HEADER_INIT(LOG_WHEELENCODER_MSG),
time_us : AP_HAL::micros64(),
distance_0 : get_distance(0),
quality_0 : (uint8_t)get_signal_quality(0),
distance_1 : get_distance(1),
quality_1 : (uint8_t)get_signal_quality(1),
};
AP::logger().WriteBlock(&pkt, sizeof(pkt));
}
// check if an instance is healthy
bool AP_WheelEncoder::healthy(uint8_t instance) const
{

3
libraries/AP_WheelEncoder/AP_WheelEncoder.h
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@ -62,6 +62,9 @@ public:
// update state of all sensors. Should be called from main loop
void update(void);
// log data to logger
void Log_Write();
// return the number of wheel encoder sensor instances
uint8_t num_sensors(void) const { return num_instances; }