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DataFlash: use baro singleton

This commit is contained in:
Peter Barker 2018-03-06 07:36:23 +11:00 committed by Lucas De Marchi
parent 5da78ff17d
commit 735f671726
2 changed files with 9 additions and 7 deletions
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4
libraries/DataFlash/DataFlash.h
View File

@ -121,7 +121,7 @@ public:
void Log_Write_RCIN(void); void Log_Write_RCIN(void);
void Log_Write_RCOUT(void); void Log_Write_RCOUT(void);
void Log_Write_RSSI(AP_RSSI &rssi); void Log_Write_RSSI(AP_RSSI &rssi);
void Log_Write_Baro(AP_Baro &baro, uint64_t time_us=0); void Log_Write_Baro(uint64_t time_us=0);
void Log_Write_Power(void); void Log_Write_Power(void);
void Log_Write_AHRS2(AP_AHRS &ahrs); void Log_Write_AHRS2(AP_AHRS &ahrs);
void Log_Write_POS(AP_AHRS &ahrs); void Log_Write_POS(AP_AHRS &ahrs);
@ -295,7 +295,7 @@ private:
void Log_Write_EKF3(AP_AHRS_NavEKF &ahrs); void Log_Write_EKF3(AP_AHRS_NavEKF &ahrs);
#endif #endif
void Log_Write_Baro_instance(AP_Baro &baro, uint64_t time_us, uint8_t baro_instance, enum LogMessages type); void Log_Write_Baro_instance(uint64_t time_us, uint8_t baro_instance, enum LogMessages type);
void Log_Write_IMU_instance(const AP_InertialSensor &ins, void Log_Write_IMU_instance(const AP_InertialSensor &ins,
uint64_t time_us, uint64_t time_us,
uint8_t imu_instance, uint8_t imu_instance,

12
libraries/DataFlash/LogFile.cpp
View File

@ -425,8 +425,9 @@ void DataFlash_Class::Log_Write_RSSI(AP_RSSI &rssi)
WriteBlock(&pkt, sizeof(pkt)); WriteBlock(&pkt, sizeof(pkt));
} }
void DataFlash_Class::Log_Write_Baro_instance(AP_Baro &baro, uint64_t time_us, uint8_t baro_instance, enum LogMessages type) void DataFlash_Class::Log_Write_Baro_instance(uint64_t time_us, uint8_t baro_instance, enum LogMessages type)
{ {
AP_Baro &baro = AP::baro();
float climbrate = baro.get_climb_rate(); float climbrate = baro.get_climb_rate();
float drift_offset = baro.get_baro_drift_offset(); float drift_offset = baro.get_baro_drift_offset();
float ground_temp = baro.get_ground_temperature(); float ground_temp = baro.get_ground_temperature();
@ -445,17 +446,18 @@ void DataFlash_Class::Log_Write_Baro_instance(AP_Baro &baro, uint64_t time_us, u
} }
// Write a BARO packet // Write a BARO packet
void DataFlash_Class::Log_Write_Baro(AP_Baro &baro, uint64_t time_us) void DataFlash_Class::Log_Write_Baro(uint64_t time_us)
{ {
if (time_us == 0) { if (time_us == 0) {
time_us = AP_HAL::micros64(); time_us = AP_HAL::micros64();
} }
Log_Write_Baro_instance(baro, time_us, 0, LOG_BARO_MSG); const AP_Baro &baro = AP::baro();
Log_Write_Baro_instance(time_us, 0, LOG_BARO_MSG);
if (baro.num_instances() > 1 && baro.healthy(1)) { if (baro.num_instances() > 1 && baro.healthy(1)) {
Log_Write_Baro_instance(baro, time_us, 1, LOG_BAR2_MSG); Log_Write_Baro_instance(time_us, 1, LOG_BAR2_MSG);
} }
if (baro.num_instances() > 2 && baro.healthy(2)) { if (baro.num_instances() > 2 && baro.healthy(2)) {
Log_Write_Baro_instance(baro, time_us, 2, LOG_BAR3_MSG); Log_Write_Baro_instance(time_us, 2, LOG_BAR3_MSG);
} }
} }