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Rover: Change Attitude logging to use DataFlash library method.

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This commit is contained in:
Robert Lefebvre 2015-01-16 15:29:09 -05:00 committed by Randy Mackay
parent 8da62107fa
commit 7254de4e23
2 changed files with 4 additions and 20 deletions
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23
APMrover2/Log.pde
View File

@ -298,26 +298,13 @@ static void Log_Write_Nav_Tuning()
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Attitude {
LOG_PACKET_HEADER;
uint32_t time_ms;
int16_t roll;
int16_t pitch;
uint16_t yaw;
};
// Write an attitude packet
static void Log_Write_Attitude()
{
struct log_Attitude pkt = {
LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG),
time_ms : millis(),
roll : (int16_t)ahrs.roll_sensor,
pitch : (int16_t)ahrs.pitch_sensor,
yaw : (uint16_t)ahrs.yaw_sensor
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
Vector3f targets(0,0,0); // Rover does not have attitude targets, use place-holder for commonality with Dataflash Log_Write_Attitude message
DataFlash.Log_Write_Attitude(ahrs, targets);
#if AP_AHRS_NAVEKF_AVAILABLE
#if OPTFLOW == ENABLED
DataFlash.Log_Write_EKF(ahrs,optflow.enabled());
@ -483,8 +470,6 @@ static void Log_Write_Baro(void)
static const struct LogStructure log_structure[] PROGMEM = {
LOG_COMMON_STRUCTURES,
{ LOG_ATTITUDE_MSG, sizeof(log_Attitude),
"ATT", "IccC", "TimeMS,Roll,Pitch,Yaw" },
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "IIHIhhhBH", "TimeMS,LTime,MLC,gDt,GDx,GDy,GDz,I2CErr,INSErr" },
{ LOG_STARTUP_MSG, sizeof(log_Startup),

1
APMrover2/defines.h
View File

@ -67,7 +67,6 @@ enum mode {
#define LOG_PERFORMANCE_MSG 0x03
#define LOG_STARTUP_MSG 0x06
#define LOG_SONAR_MSG 0x07
#define LOG_ATTITUDE_MSG 0x08
#define LOG_MODE_MSG 0x09
#define LOG_COMPASS_MSG 0x0A
#define LOG_COMPASS2_MSG 0x0C