Rover: DFMessageWriter; ability to trickle messages out to DF

APMrover2/APMrover2.cpp

@@ -80,6 +80,7 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] PROGMEM = {
 #if FRSKY_TELEM_ENABLED == ENABLED
     SCHED_TASK(frsky_telemetry_send,   10,    100),
 #endif
+    SCHED_TASK(dataflash_periodic,      1,    300),
 };
 
 /*
@@ -319,6 +320,11 @@ void Rover::one_second_loop(void)
     ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
 }
 
+void Rover::dataflash_periodic(void)
+{
+    DataFlash.periodic_tasks();
+}
+
 void Rover::update_GPS_50Hz(void)
 {
     static uint32_t last_gps_reading[GPS_MAX_INSTANCES];

APMrover2/Log.cpp

@@ -215,7 +215,8 @@ struct PACKED log_Startup {
     uint16_t command_total;
 };
 
-void Rover::Log_Write_Startup(uint8_t type)
+// do not add any extra log writes to this function; see LogStartup.cpp
+bool Rover::Log_Write_Startup(uint8_t type)
 {
     struct log_Startup pkt = {
         LOG_PACKET_HEADER_INIT(LOG_STARTUP_MSG),
@@ -223,12 +224,7 @@ void Rover::Log_Write_Startup(uint8_t type)
         startup_type    : type,
         command_total   : mission.num_commands()
     };
-    DataFlash.WriteBlock(&pkt, sizeof(pkt));
+    return DataFlash.WriteBlock(&pkt, sizeof(pkt));
-
-    // write all commands to the dataflash as well
-    if (should_log(MASK_LOG_CMD)) {
-        DataFlash.Log_Write_EntireMission(mission);
-    }
 }
 
 struct PACKED log_Control_Tuning {
@@ -423,12 +419,21 @@ void Rover::Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page)
 }
 #endif // CLI_ENABLED
 
+void Rover::Log_Write_Vehicle_Startup_Messages()
+{
+    // only 200(?) bytes are guaranteed by DataFlash
+    Log_Write_Startup(TYPE_GROUNDSTART_MSG);
+}
+
 // start a new log
 void Rover::start_logging() 
 {
     in_mavlink_delay = true;
+    DataFlash.set_mission(&mission);
+    DataFlash.setVehicle_Startup_Log_Writer(
+        FUNCTOR_BIND(&rover, &Rover::Log_Write_Vehicle_Startup_Messages, void)
+        );
     DataFlash.StartNewLog();
-    DataFlash.Log_Write_SysInfo(PSTR(FIRMWARE_STRING));
     in_mavlink_delay = false;
 }
 

APMrover2/Rover.h

@@ -135,7 +135,7 @@ private:
     RC_Channel *channel_throttle;
     RC_Channel *channel_learn;
 
-    DataFlash_Class DataFlash;
+    DataFlash_Class DataFlash{FIRMWARE_STRING};
 
     bool in_log_download;
 
@@ -402,10 +402,11 @@ private:
     void gcs_update(void);
     void gcs_send_text_P(MAV_SEVERITY severity, const prog_char_t *str);
     void gcs_retry_deferred(void);
+
     void do_erase_logs(void);
     void Log_Write_Performance();
     void Log_Write_Steering();
-    void Log_Write_Startup(uint8_t type);
+    bool Log_Write_Startup(uint8_t type);
     void Log_Write_Control_Tuning();
     void Log_Write_Nav_Tuning();
     void Log_Write_Sonar();
@@ -414,9 +415,11 @@ private:
     void Log_Write_RC(void);
     void Log_Write_Baro(void);
     void Log_Write_Home_And_Origin();
+    void Log_Write_Vehicle_Startup_Messages();
     void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page);
     void log_init(void);
     void start_logging() ;
+
     void load_parameters(void);
     void throttle_slew_limit(int16_t last_throttle);
     bool auto_check_trigger(void);
@@ -533,6 +536,8 @@ public:
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
     int8_t test_shell(uint8_t argc, const Menu::arg *argv);
 #endif
+
+    void dataflash_periodic(void);
 };
 
 #define MENU_FUNC(func) FUNCTOR_BIND(&rover, &Rover::func, int8_t, uint8_t, const Menu::arg *)

APMrover2/system.cpp

@@ -213,7 +213,6 @@ void Rover::init_ardupilot()
 	init_capabilities();
 
 	startup_ground();
-    Log_Write_Startup(TYPE_GROUNDSTART_MSG);
 
     set_mode((enum mode)g.initial_mode.get());
 
@@ -511,11 +510,7 @@ bool Rover::should_log(uint32_t mask)
     }
     bool ret = hal.util->get_soft_armed() || (g.log_bitmask & MASK_LOG_WHEN_DISARMED) != 0;
     if (ret && !DataFlash.logging_started() && !in_log_download) {
-        // we have to set in_mavlink_delay to prevent logging while
-        // writing headers
-        in_mavlink_delay = true;
         start_logging();
-        in_mavlink_delay = false;
     }
     return ret;
 }