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Copter: rename dataflash to logger

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This commit is contained in:
Tom Pittenger 2019-02-11 00:11:20 -08:00 committed by Peter Barker
parent 6f5497cac3
commit 7824b64ad6
12 changed files with 6 additions and 24 deletions
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2
ArduCopter/APM_Config.h
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@ -4,7 +4,7 @@
// valid! You should switch to using a HAL_BOARD flag in your local config.mk.
// uncomment the lines below to disable features (flash sizes listed are for APM2 boards and will underestimate savings on Pixhawk and other boards)
//#define LOGGING_ENABLED DISABLED // disable dataflash logging to save 11K of flash space
//#define LOGGING_ENABLED DISABLED // disable logging to save 11K of flash space
//#define MOUNT DISABLED // disable the camera gimbal to save 8K of flash space
//#define AUTOTUNE_ENABLED DISABLED // disable the auto tune functionality to save 7k of flash
//#define AC_FENCE DISABLED // disable fence to save 2k of flash

3
ArduCopter/ArduCopter.cpp
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@ -492,7 +492,7 @@ void Copter::init_simple_bearing()
super_simple_cos_yaw = simple_cos_yaw;
super_simple_sin_yaw = simple_sin_yaw;
// log the simple bearing to dataflash
// log the simple bearing
if (should_log(MASK_LOG_ANY)) {
Log_Write_Data(DATA_INIT_SIMPLE_BEARING, ahrs.yaw_sensor);
}
@ -571,7 +571,6 @@ void Copter::update_altitude()
// read in baro altitude
read_barometer();
// write altitude info to dataflash logs
if (should_log(MASK_LOG_CTUN)) {
Log_Write_Control_Tuning();
}

3
ArduCopter/Copter.h
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@ -224,7 +224,6 @@ private:
RC_Channel *channel_throttle;
RC_Channel *channel_yaw;
// Dataflash
AP_Logger logger;
AP_GPS gps;
@ -292,7 +291,7 @@ private:
uint8_t pre_arm_rc_check : 1; // 3 // true if rc input pre-arm checks have been completed successfully
uint8_t pre_arm_check : 1; // 4 // true if all pre-arm checks (rc, accel calibration, gps lock) have been performed
uint8_t auto_armed : 1; // 5 // stops auto missions from beginning until throttle is raised
uint8_t logging_started : 1; // 6 // true if dataflash logging has started
uint8_t logging_started : 1; // 6 // true if logging has started
uint8_t land_complete : 1; // 7 // true if we have detected a landing
uint8_t new_radio_frame : 1; // 8 // Set true if we have new PWM data to act on from the Radio
uint8_t usb_connected_unused : 1; // 9 // UNUSED

1
ArduCopter/avoidance_adsb.cpp
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@ -88,7 +88,6 @@ MAV_COLLISION_ACTION AP_Avoidance_Copter::handle_avoidance(const AP_Avoidance::O
}
}
// log to dataflash
if (failsafe_state_change) {
AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_ADSB,
LogErrorCode(actual_action));

2
ArduCopter/config.h
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@ -623,7 +623,7 @@
#endif
//////////////////////////////////////////////////////////////////////////////
// Dataflash logging control
// Logging control
//
#ifndef LOGGING_ENABLED
# define LOGGING_ENABLED ENABLED

5
ArduCopter/crash_check.cpp
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@ -47,7 +47,6 @@ void Copter::crash_check()
// check if crashing for 2 seconds
if (crash_counter >= (CRASH_CHECK_TRIGGER_SEC * scheduler.get_loop_rate_hz())) {
// log an error in the dataflash
AP::logger().Write_Error(LogErrorSubsystem::CRASH_CHECK, LogErrorCode::CRASH_CHECK_CRASH);
// keep logging even if disarmed:
AP::logger().set_force_log_disarmed(true);
@ -115,7 +114,6 @@ void Copter::thrust_loss_check()
if (thrust_loss_counter >= (THRUST_LOSS_CHECK_TRIGGER_SEC * scheduler.get_loop_rate_hz())) {
// reset counter
thrust_loss_counter = 0;
// log an error in the dataflash
AP::logger().Write_Error(LogErrorSubsystem::THRUST_LOSS_CHECK, LogErrorCode::FAILSAFE_OCCURRED);
// send message to gcs
gcs().send_text(MAV_SEVERITY_EMERGENCY, "Potential Thrust Loss (%d)", (int)motors->get_lost_motor() + 1);
@ -199,7 +197,6 @@ void Copter::parachute_check()
} else if (control_loss_count >= (PARACHUTE_CHECK_TRIGGER_SEC*scheduler.get_loop_rate_hz())) {
// reset control loss counter
control_loss_count = 0;
// log an error in the dataflash
AP::logger().Write_Error(LogErrorSubsystem::CRASH_CHECK, LogErrorCode::CRASH_CHECK_LOSS_OF_CONTROL);
// release parachute
parachute_release();
@ -233,7 +230,6 @@ void Copter::parachute_manual_release()
if (ap.land_complete) {
// warn user of reason for failure
gcs().send_text(MAV_SEVERITY_INFO,"Parachute: Landed");
// log an error in the dataflash
AP::logger().Write_Error(LogErrorSubsystem::PARACHUTES, LogErrorCode::PARACHUTE_LANDED);
return;
}
@ -242,7 +238,6 @@ void Copter::parachute_manual_release()
if ((parachute.alt_min() != 0 && (current_loc.alt < (int32_t)parachute.alt_min() * 100))) {
// warn user of reason for failure
gcs().send_text(MAV_SEVERITY_ALERT,"Parachute: Too low");
// log an error in the dataflash
AP::logger().Write_Error(LogErrorSubsystem::PARACHUTES, LogErrorCode::PARACHUTE_TOO_LOW);
return;
}

3
ArduCopter/ekf_check.cpp
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@ -54,7 +54,6 @@ void Copter::ekf_check()
// limit count from climbing too high
ekf_check_state.fail_count = EKF_CHECK_ITERATIONS_MAX;
ekf_check_state.bad_variance = true;
// log an error in the dataflash
AP::logger().Write_Error(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_BAD_VARIANCE);
// send message to gcs
if ((AP_HAL::millis() - ekf_check_state.last_warn_time) > EKF_CHECK_WARNING_TIME) {
@ -72,7 +71,6 @@ void Copter::ekf_check()
// if compass is flagged as bad and the counter reaches zero then clear flag
if (ekf_check_state.bad_variance && ekf_check_state.fail_count == 0) {
ekf_check_state.bad_variance = false;
// log recovery in the dataflash
AP::logger().Write_Error(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_VARIANCE_CLEARED);
// clear failsafe
failsafe_ekf_off_event();
@ -173,7 +171,6 @@ void Copter::failsafe_ekf_off_event(void)
return;
}
// clear flag and log recovery
failsafe.ekf = false;
AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_RESOLVED);
}

3
ArduCopter/events.cpp
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@ -35,7 +35,6 @@ void Copter::failsafe_radio_on_event()
}
}
// log the error to the dataflash
AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_RADIO, LogErrorCode::FAILSAFE_OCCURRED);
}
@ -116,7 +115,6 @@ void Copter::failsafe_gcs_check()
}
// GCS failsafe event has occurred
// update state, log to dataflash
set_failsafe_gcs(true);
AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_GCS, LogErrorCode::FAILSAFE_OCCURRED);
@ -141,7 +139,6 @@ void Copter::failsafe_gcs_check()
// failsafe_gcs_off_event - actions to take when GCS contact is restored
void Copter::failsafe_gcs_off_event(void)
{
// log recovery of GCS in logs?
AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_GCS, LogErrorCode::FAILSAFE_RESOLVED);
}

2
ArduCopter/failsafe.cpp
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@ -57,7 +57,7 @@ void Copter::failsafe_check()
if (motors->armed()) {
motors->output_min();
}
// log an error
AP::logger().Write_Error(LogErrorSubsystem::CPU, LogErrorCode::FAILSAFE_OCCURRED);
}

1
ArduCopter/fence.cpp
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@ -69,7 +69,6 @@ void Copter::fence_check()
}
}
// log an error in the dataflash
AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode(new_breaches));
} else if (orig_breaches) {

1
ArduCopter/mode_rtl.cpp
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@ -22,7 +22,6 @@ bool Copter::ModeRTL::init(bool ignore_checks)
// re-start RTL with terrain following disabled
void Copter::ModeRTL::restart_without_terrain()
{
// log an error
AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::RESTARTED_RTL);
if (rtl_path.terrain_used) {
build_path(false);

4
ArduCopter/motors.cpp
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@ -156,7 +156,7 @@ bool Copter::init_arm_motors(const AP_Arming::Method method, const bool do_armin
return false;
}
// let dataflash know that we're armed (it may open logs e.g.)
// let logger know that we're armed (it may open logs e.g.)
AP::logger().set_vehicle_armed(true);
// disable cpu failsafe because initialising everything takes a while
@ -217,7 +217,6 @@ bool Copter::init_arm_motors(const AP_Arming::Method method, const bool do_armin
// finally actually arm the motors
motors->armed(true);
// log arming to dataflash
Log_Write_Event(DATA_ARMED);
// log flight mode in case it was changed while vehicle was disarmed
@ -276,7 +275,6 @@ void Copter::init_disarm_motors()
set_land_complete(true);
set_land_complete_maybe(true);
// log disarm to the dataflash
Log_Write_Event(DATA_DISARMED);
// send disarm command to motors