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DataFlash: removed logging of relative alt in GPS messages

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not related to GPS and makes it impossible to do bit-identical replay
This commit is contained in:
Andrew Tridgell 2016-05-04 08:24:27 +10:00
parent 223c512188
commit 7ab1367ec4
3 changed files with 4 additions and 6 deletions
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2
libraries/DataFlash/DataFlash.h
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@ -105,7 +105,7 @@ public:
void StopLogging();
void Log_Write_Parameter(const char *name, float value);
void Log_Write_GPS(const AP_GPS &gps, uint8_t instance, int32_t relative_alt);
void Log_Write_GPS(const AP_GPS &gps, uint8_t instance);
void Log_Write_RFND(const RangeFinder &rangefinder);
void Log_Write_IMU(const AP_InertialSensor &ins);
void Log_Write_IMUDT(const AP_InertialSensor &ins);

3
libraries/DataFlash/LogFile.cpp
View File

@ -707,7 +707,7 @@ bool DataFlash_Backend::Log_Write_Parameter(const AP_Param *ap,
}
// Write an GPS packet
void DataFlash_Class::Log_Write_GPS(const AP_GPS &gps, uint8_t i, int32_t relative_alt)
void DataFlash_Class::Log_Write_GPS(const AP_GPS &gps, uint8_t i)
{
const struct Location &loc = gps.location(i);
struct log_GPS pkt = {
@ -720,7 +720,6 @@ void DataFlash_Class::Log_Write_GPS(const AP_GPS &gps, uint8_t i, int32_t relati
hdop : gps.get_hdop(i),
latitude : loc.lat,
longitude : loc.lng,
rel_altitude : relative_alt,
altitude : loc.alt,
ground_speed : (uint32_t)(gps.ground_speed(i) * 100),
ground_course : gps.ground_course_cd(i),

5
libraries/DataFlash/LogStructure.h
View File

@ -51,7 +51,6 @@ struct PACKED log_GPS {
uint16_t hdop;
int32_t latitude;
int32_t longitude;
int32_t rel_altitude;
int32_t altitude;
uint32_t ground_speed;
int32_t ground_course;
@ -714,9 +713,9 @@ Format characters in the format string for binary log messages
{ LOG_PARAMETER_MSG, sizeof(log_Parameter), \
"PARM", "QNf", "TimeUS,Name,Value" }, \
{ LOG_GPS_MSG, sizeof(log_GPS), \
"GPS", "QBIHBcLLeeEefB", "TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,RAlt,Alt,Spd,GCrs,VZ,U" }, \
"GPS", "QBIHBcLLeEefB", "TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,U" }, \
{ LOG_GPS2_MSG, sizeof(log_GPS), \
"GPS2", "QBIHBcLLeeEefB", "TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,RAlt,Alt,Spd,GCrs,VZ,U" }, \
"GPS2", "QBIHBcLLeEefB", "TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,U" }, \
{ LOG_GPA_MSG, sizeof(log_GPA), \
"GPA", "QCCCC", "TimeUS,VDop,HAcc,VAcc,SAcc" }, \
{ LOG_GPA2_MSG, sizeof(log_GPA), \