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Tracker: Baro does its own dataflash logging

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This commit is contained in:
Peter Barker 2018-04-11 22:55:31 +10:00 committed by Francisco Ferreira
parent fdd410f105
commit 753b710477
5 changed files with 2 additions and 19 deletions
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2
AntennaTracker/AntennaTracker.cpp
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@ -38,7 +38,7 @@ const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
SCHED_TASK(update_GPS, 10, 4000), SCHED_TASK(update_GPS, 10, 4000),
SCHED_TASK(update_compass, 10, 1500), SCHED_TASK(update_compass, 10, 1500),
SCHED_TASK_CLASS(AP_BattMonitor, &tracker.battery, read, 10, 1500), SCHED_TASK_CLASS(AP_BattMonitor, &tracker.battery, read, 10, 1500),
SCHED_TASK(update_barometer, 10, 1500), SCHED_TASK_CLASS(AP_Baro, &tracker.barometer, update, 10, 1500),
SCHED_TASK(gcs_update, 50, 1700), SCHED_TASK(gcs_update, 50, 1700),
SCHED_TASK(gcs_data_stream_send, 50, 3000), SCHED_TASK(gcs_data_stream_send, 50, 3000),
SCHED_TASK(compass_accumulate, 50, 1500), SCHED_TASK(compass_accumulate, 50, 1500),

6
AntennaTracker/Log.cpp
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@ -19,11 +19,6 @@ void Tracker::Log_Write_Attitude()
DataFlash.Log_Write_POS(ahrs); DataFlash.Log_Write_POS(ahrs);
} }
void Tracker::Log_Write_Baro(void)
{
DataFlash.Log_Write_Baro();
}
struct PACKED log_Vehicle_Baro { struct PACKED log_Vehicle_Baro {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint64_t time_us; uint64_t time_us;
@ -95,7 +90,6 @@ void Tracker::log_init(void)
#else // LOGGING_ENABLED #else // LOGGING_ENABLED
void Tracker::Log_Write_Attitude(void) {} void Tracker::Log_Write_Attitude(void) {}
void Tracker::Log_Write_Baro(void) {}
void Tracker::log_init(void) {} void Tracker::log_init(void) {}
void Tracker::Log_Write_Vehicle_Pos(int32_t lat, int32_t lng, int32_t alt, const Vector3f& vel) {} void Tracker::Log_Write_Vehicle_Pos(int32_t lat, int32_t lng, int32_t alt, const Vector3f& vel) {}

2
AntennaTracker/Tracker.h
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@ -220,7 +220,6 @@ private:
void update_scan(void); void update_scan(void);
bool servo_test_set_servo(uint8_t servo_num, uint16_t pwm); bool servo_test_set_servo(uint8_t servo_num, uint16_t pwm);
void read_radio(); void read_radio();
void update_barometer(void);
void update_ahrs(); void update_ahrs();
void update_compass(void); void update_compass(void);
void compass_accumulate(void); void compass_accumulate(void);
@ -256,7 +255,6 @@ private:
void init_capabilities(void); void init_capabilities(void);
void compass_cal_update(); void compass_cal_update();
void Log_Write_Attitude(); void Log_Write_Attitude();
void Log_Write_Baro(void);
void Log_Write_Vehicle_Pos(int32_t lat,int32_t lng,int32_t alt, const Vector3f& vel); void Log_Write_Vehicle_Pos(int32_t lat,int32_t lng,int32_t alt, const Vector3f& vel);
void Log_Write_Vehicle_Baro(float pressure, float altitude); void Log_Write_Vehicle_Baro(float pressure, float altitude);
void Log_Write_Vehicle_Startup_Messages(); void Log_Write_Vehicle_Startup_Messages();

10
AntennaTracker/sensors.cpp
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@ -1,15 +1,5 @@
#include "Tracker.h" #include "Tracker.h"
// read the barometer and return the updated altitude in meters
void Tracker::update_barometer(void)
{
barometer.update();
if (should_log(MASK_LOG_IMU)) {
Log_Write_Baro();
}
}
/* /*
update INS and attitude update INS and attitude
*/ */

1
AntennaTracker/system.cpp
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@ -46,6 +46,7 @@ void Tracker::init_tracker()
AP_Notify::flags.failsafe_battery = false; AP_Notify::flags.failsafe_battery = false;
// init baro before we start the GCS, so that the CLI baro test works // init baro before we start the GCS, so that the CLI baro test works
barometer.set_log_baro_bit(MASK_LOG_IMU);
barometer.init(); barometer.init();
// we start by assuming USB connected, as we initialed the serial // we start by assuming USB connected, as we initialed the serial