mirror of https://github.com/ArduPilot/ardupilot
Plane: use Dataflash lib's Log_Write_Cmd
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150faafaf4
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790a907811
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@ -227,35 +227,6 @@ static void Log_Write_Performance()
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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}
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struct PACKED log_Cmd {
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LOG_PACKET_HEADER;
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uint16_t command_total;
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uint16_t command_number;
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uint8_t waypoint_id;
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uint8_t waypoint_options;
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uint8_t waypoint_param1;
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int32_t waypoint_altitude;
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int32_t waypoint_latitude;
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int32_t waypoint_longitude;
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};
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// Write a command processing packet. Total length : 19 bytes
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static void Log_Write_Cmd(const AP_Mission::Mission_Command& cmd)
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{
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struct log_Cmd pkt = {
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LOG_PACKET_HEADER_INIT(LOG_CMD_MSG),
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command_total : mission.num_commands(),
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command_number : cmd.index,
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waypoint_id : cmd.id,
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waypoint_options : cmd.content.location.options,
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waypoint_param1 : cmd.p1,
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waypoint_altitude : cmd.content.location.alt,
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waypoint_latitude : cmd.content.location.lat,
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waypoint_longitude : cmd.content.location.lng
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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struct PACKED log_Camera {
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struct PACKED log_Camera {
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LOG_PACKET_HEADER;
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LOG_PACKET_HEADER;
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uint32_t gps_time;
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uint32_t gps_time;
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@ -304,9 +275,9 @@ static void Log_Write_Startup(uint8_t type)
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// write all commands to the dataflash as well
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// write all commands to the dataflash as well
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AP_Mission::Mission_Command cmd;
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AP_Mission::Mission_Command cmd;
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for (uint8_t i = 0; i < mission.num_commands(); i++) {
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for (uint16_t i = 0; i < mission.num_commands(); i++) {
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if (mission.read_cmd_from_storage(i,cmd)) {
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if (mission.read_cmd_from_storage(i,cmd)) {
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Log_Write_Cmd(cmd);
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DataFlash.Log_Write_Cmd(mission.num_commands(),cmd);
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}
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}
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}
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}
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}
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}
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@ -564,8 +535,6 @@ static const struct LogStructure log_structure[] PROGMEM = {
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"ATT", "IccCCC", "TimeMS,Roll,Pitch,Yaw,ErrorRP,ErrorYaw" },
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"ATT", "IccCCC", "TimeMS,Roll,Pitch,Yaw,ErrorRP,ErrorYaw" },
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{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
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{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
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"PM", "IHIhhhBH", "LTime,MLC,gDt,GDx,GDy,GDz,I2CErr,INSErr" },
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"PM", "IHIhhhBH", "LTime,MLC,gDt,GDx,GDy,GDz,I2CErr,INSErr" },
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{ LOG_CMD_MSG, sizeof(log_Cmd),
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"CMD", "HHBBBeLL", "CTot,CNum,CId,COpt,Prm1,Alt,Lat,Lng" },
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{ LOG_CAMERA_MSG, sizeof(log_Camera),
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{ LOG_CAMERA_MSG, sizeof(log_Camera),
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"CAM", "IHLLeccC", "GPSTime,GPSWeek,Lat,Lng,Alt,Roll,Pitch,Yaw" },
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"CAM", "IHLLeccC", "GPSTime,GPSWeek,Lat,Lng,Alt,Roll,Pitch,Yaw" },
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{ LOG_STARTUP_MSG, sizeof(log_Startup),
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{ LOG_STARTUP_MSG, sizeof(log_Startup),
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@ -625,7 +594,6 @@ static void start_logging()
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// dummy functions
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// dummy functions
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static void Log_Write_Startup(uint8_t type) {}
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static void Log_Write_Startup(uint8_t type) {}
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static void Log_Write_Cmd(const AP_Mission::Mission_Command& cmd) {}
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static void Log_Write_Current() {}
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static void Log_Write_Current() {}
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static void Log_Write_Nav_Tuning() {}
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static void Log_Write_Nav_Tuning() {}
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static void Log_Write_TECS_Tuning() {}
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static void Log_Write_TECS_Tuning() {}
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@ -22,7 +22,7 @@ start_command(const AP_Mission::Mission_Command& cmd)
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{
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{
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// log when new commands start
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// log when new commands start
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if (g.log_bitmask & MASK_LOG_CMD) {
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if (g.log_bitmask & MASK_LOG_CMD) {
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Log_Write_Cmd(cmd);
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DataFlash.Log_Write_Cmd(mission.num_commands(),cmd);
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}
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}
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// special handling for nav vs non-nav commands
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// special handling for nav vs non-nav commands
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@ -114,7 +114,7 @@ enum log_messages {
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LOG_CTUN_MSG,
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LOG_CTUN_MSG,
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LOG_NTUN_MSG,
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LOG_NTUN_MSG,
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LOG_PERFORMANCE_MSG,
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LOG_PERFORMANCE_MSG,
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LOG_CMD_MSG,
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LOG_CMD_MSG_DEPRECATED, // deprecated
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LOG_CURRENT_MSG,
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LOG_CURRENT_MSG,
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LOG_STARTUP_MSG,
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LOG_STARTUP_MSG,
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TYPE_AIRSTART_MSG,
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TYPE_AIRSTART_MSG,
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