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Plane: Change Compass logging to use DataFlash library method.

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Robert Lefebvre 2015-01-16 11:44:26 -05:00 committed by Randy Mackay
parent a2d73b42b9
commit 7efb4eef65
1 changed files with 5 additions and 55 deletions
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60
ArduPlane/Log.pde
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@ -403,65 +403,19 @@ static void Log_Arm_Disarm() {
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Compass {
LOG_PACKET_HEADER;
uint32_t time_ms;
int16_t mag_x;
int16_t mag_y;
int16_t mag_z;
int16_t offset_x;
int16_t offset_y;
int16_t offset_z;
};
// Write a Compass packet. Total length : 15 bytes
// Write a Compass packet
static void Log_Write_Compass()
{
const Vector3f &mag_offsets = compass.get_offsets(0);
const Vector3f &mag = compass.get_field(0);
struct log_Compass pkt = {
LOG_PACKET_HEADER_INIT(LOG_COMPASS_MSG),
time_ms : hal.scheduler->millis(),
mag_x : (int16_t)mag.x,
mag_y : (int16_t)mag.y,
mag_z : (int16_t)mag.z,
offset_x : (int16_t)mag_offsets.x,
offset_y : (int16_t)mag_offsets.y,
offset_z : (int16_t)mag_offsets.z
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
DataFlash.Log_Write_Compass(compass, 0);
#if COMPASS_MAX_INSTANCES > 1
if (compass.get_count() > 1) {
const Vector3f &mag2_offsets = compass.get_offsets(1);
const Vector3f &mag2 = compass.get_field(1);
struct log_Compass pkt2 = {
LOG_PACKET_HEADER_INIT(LOG_COMPASS2_MSG),
time_ms : hal.scheduler->millis(),
mag_x : (int16_t)mag2.x,
mag_y : (int16_t)mag2.y,
mag_z : (int16_t)mag2.z,
offset_x : (int16_t)mag2_offsets.x,
offset_y : (int16_t)mag2_offsets.y,
offset_z : (int16_t)mag2_offsets.z
};
DataFlash.WriteBlock(&pkt2, sizeof(pkt2));
DataFlash.Log_Write_Compass(compass, 1);
}
#endif
#if COMPASS_MAX_INSTANCES > 2
if (compass.get_count() > 2) {
const Vector3f &mag3_offsets = compass.get_offsets(2);
const Vector3f &mag3 = compass.get_field(2);
struct log_Compass pkt3 = {
LOG_PACKET_HEADER_INIT(LOG_COMPASS3_MSG),
time_ms : hal.scheduler->millis(),
mag_x : (int16_t)mag3.x,
mag_y : (int16_t)mag3.y,
mag_z : (int16_t)mag3.z,
offset_x : (int16_t)mag3_offsets.x,
offset_y : (int16_t)mag3_offsets.y,
offset_z : (int16_t)mag3_offsets.z
};
DataFlash.WriteBlock(&pkt3, sizeof(pkt3));
DataFlash.Log_Write_Compass(compass, 2);
}
#endif
}
@ -505,10 +459,6 @@ static const struct LogStructure log_structure[] PROGMEM = {
"NTUN", "ICfccccfI", "TimeMS,Yaw,WpDist,TargBrg,NavBrg,AltErr,Arspd,Alt,GSpdCM" },
{ LOG_SONAR_MSG, sizeof(log_Sonar),
"SONR", "IffffBBf", "TimeMS,DistCM,Volt,BaroAlt,GSpd,Thr,Cnt,Corr" },
{ LOG_COMPASS_MSG, sizeof(log_Compass),
"MAG", "Ihhhhhh", "TimeMS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ" },
{ LOG_COMPASS2_MSG, sizeof(log_Compass),
"MAG2", "Ihhhhhh", "TimeMS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ" },
{ LOG_ARM_DISARM_MSG, sizeof(log_Arm_Disarm),
"ARM", "IHB", "TimeMS,ArmState,ArmChecks" },
{ LOG_ATRP_MSG, sizeof(AP_AutoTune::log_ATRP),