Copter: move throw logging into ModeThrow

ArduCopter/Copter.h

@@ -836,7 +836,6 @@ private:
 #endif
     void Log_Write_Precland();
     void Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target);
-    void Log_Write_Throw(ThrowModeStage stage, float velocity, float velocity_z, float accel, float ef_accel_z, bool throw_detect, bool attitude_ok, bool height_ok, bool position_ok);
     void Log_Write_Vehicle_Startup_Messages();
     void log_init(void);
 

ArduCopter/Log.cpp

@@ -489,43 +489,6 @@ void Copter::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_tar
     DataFlash.WriteBlock(&pkt, sizeof(pkt));
 }
 
-#if MODE_THROW_ENABLED == ENABLED
-// throw flight mode logging
-struct PACKED log_Throw {
-    LOG_PACKET_HEADER;
-    uint64_t time_us;
-    uint8_t stage;
-    float velocity;
-    float velocity_z;
-    float accel;
-    float ef_accel_z;
-    uint8_t throw_detect;
-    uint8_t attitude_ok;
-    uint8_t height_ok;
-    uint8_t pos_ok;
-};
-
-// Write a Throw mode details
-void Copter::Log_Write_Throw(ThrowModeStage stage, float velocity, float velocity_z, float accel, float ef_accel_z, bool throw_detect, bool attitude_ok, bool height_ok, bool pos_ok)
-{
-    struct log_Throw pkt = {
-        LOG_PACKET_HEADER_INIT(LOG_THROW_MSG),
-        time_us         : AP_HAL::micros64(),
-        stage           : (uint8_t)stage,
-        velocity        : velocity,
-        velocity_z      : velocity_z,
-        accel           : accel,
-        ef_accel_z      : ef_accel_z,
-        throw_detect    : throw_detect,
-        attitude_ok     : attitude_ok,
-        height_ok       : height_ok,
-        pos_ok          : pos_ok
-    };
-    DataFlash.WriteBlock(&pkt, sizeof(pkt));
-}
-#endif
-
-
 // type and unit information can be found in
 // libraries/DataFlash/Logstructure.h; search for "log_Units" for
 // units and "Format characters" for field type information
@@ -571,10 +534,6 @@ const struct LogStructure Copter::log_structure[] = {
 #endif
     { LOG_GUIDEDTARGET_MSG, sizeof(log_GuidedTarget),
       "GUID",  "QBffffff",    "TimeUS,Type,pX,pY,pZ,vX,vY,vZ", "s-mmmnnn", "F-000000" },
-#if MODE_THROW_ENABLED == ENABLED
-    { LOG_THROW_MSG, sizeof(log_Throw),
-      "THRO",  "QBffffbbbb",  "TimeUS,Stage,Vel,VelZ,Acc,AccEfZ,Throw,AttOk,HgtOk,PosOk", "s-nnoo----", "F-0000----" },
-#endif
 };
 
 void Copter::Log_Write_Vehicle_Startup_Messages()
@@ -614,7 +573,6 @@ void Copter::Log_Write_Home_And_Origin() {}
 void Copter::Log_Sensor_Health() {}
 void Copter::Log_Write_Precland() {}
 void Copter::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
-void Copter::Log_Write_Throw(ThrowModeStage stage, float velocity, float velocity_z, float accel, float ef_accel_z, bool throw_detect, bool attitude_ok, bool height_ok, bool pos_ok) {}
 void Copter::Log_Write_Proximity() {}
 void Copter::Log_Write_Vehicle_Startup_Messages() {}
 

ArduCopter/Parameters.cpp

@@ -839,7 +839,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Description: Used by THROW mode. Specifies whether Copter is thrown upward or dropped.
     // @Values: 0:Upward Throw,1:Drop
     // @User: Standard
-    AP_GROUPINFO("THROW_TYPE", 4, ParametersG2, throw_type, ThrowType_Upward),
+    AP_GROUPINFO("THROW_TYPE", 4, ParametersG2, throw_type, Copter::ModeThrow::ThrowType_Upward),
 #endif
 
     // @Param: GND_EFFECT_COMP

ArduCopter/defines.h

@@ -265,21 +265,6 @@ enum FlipState {
     Flip_Abandon
 };
 
-// Throw stages
-enum ThrowModeStage {
-    Throw_Disarmed,
-    Throw_Detecting,
-    Throw_Uprighting,
-    Throw_HgtStabilise,
-    Throw_PosHold
-};
-
-// Throw types
-enum ThrowModeType {
-    ThrowType_Upward = 0,
-    ThrowType_Drop = 1
-};
-
 enum LandStateType {
     LandStateType_FlyToLocation = 0,
     LandStateType_Descending = 1
@@ -324,7 +309,6 @@ enum LoggingParameters {
      LOG_HELI_MSG,
      LOG_PRECLAND_MSG,
      LOG_GUIDEDTARGET_MSG,
-     LOG_THROW_MSG,
 };
 
 #define MASK_LOG_ATTITUDE_FAST          (1<<0)

ArduCopter/mode.h

@@ -1057,6 +1057,11 @@ public:
     bool allows_arming(bool from_gcs) const override { return true; };
     bool is_autopilot() const override { return false; }
 
+    // Throw types
+    enum ThrowModeType {
+        ThrowType_Upward = 0,
+        ThrowType_Drop = 1
+    };
 
 protected:
 
@@ -1070,13 +1075,21 @@ private:
     bool throw_height_good();
     bool throw_attitude_good();
 
+    // Throw stages
+    enum ThrowModeStage {
+        Throw_Disarmed,
+        Throw_Detecting,
+        Throw_Uprighting,
+        Throw_HgtStabilise,
+        Throw_PosHold
+    };
+
     ThrowModeStage stage = Throw_Disarmed;
     ThrowModeStage prev_stage = Throw_Disarmed;
     uint32_t last_log_ms;
     bool nextmode_attempted;
     uint32_t free_fall_start_ms;    // system time free fall was detected
     float free_fall_start_velz;     // vertical velocity when free fall was detected
-
 };
 
 // modes below rely on Guided mode so must be declared at the end (instead of in alphabetical order)

ArduCopter/mode_throw.cpp

@@ -193,15 +193,22 @@ void Copter::ModeThrow::run()
         bool attitude_ok = (stage > Throw_Uprighting) || throw_attitude_good();
         bool height_ok = (stage > Throw_HgtStabilise) || throw_height_good();
         bool pos_ok = (stage > Throw_PosHold) || throw_position_good();
-        copter.Log_Write_Throw(stage,
-                                velocity,
-                                velocity_z,
-                                accel,
-                                ef_accel_z,
-                                throw_detect,
-                                attitude_ok,
-                                height_ok,
-                                pos_ok);
+        DataFlash_Class::instance()->Log_Write(
+            "THRO",
+            "TimeUS,Stage,Vel,VelZ,Acc,AccEfZ,Throw,AttOk,HgtOk,PosOk",
+            "s-nnoo----",
+            "F-0000----",
+            "QBffffbbbb",
+            AP_HAL::micros64(),
+            (uint8_t)stage,
+            velocity,
+            velocity_z,
+            accel,
+            ef_accel_z,
+            throw_detect,
+            attitude_ok,
+            height_ok,
+            pos_ok);
     }
 }