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ArduSub: move logger object up to AP_Vehicle

This commit is contained in:
Peter Barker 2024-02-07 22:21:25 +11:00 committed by Andrew Tridgell
parent fcd7c5beb9
commit 80fa661042
5 changed files with 17 additions and 22 deletions
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10
ArduSub/Log.cpp
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@ -275,6 +275,11 @@ const struct LogStructure Sub::log_structure[] = {
"GUIP", "QBffffff", "TimeUS,Type,pX,pY,pZ,vX,vY,vZ", "s-mmmnnn", "F-000000" }, "GUIP", "QBffffff", "TimeUS,Type,pX,pY,pZ,vX,vY,vZ", "s-mmmnnn", "F-000000" },
}; };
uint8_t Sub::get_num_log_structures() const
{
return ARRAY_SIZE(log_structure);
}
void Sub::Log_Write_Vehicle_Startup_Messages() void Sub::Log_Write_Vehicle_Startup_Messages()
{ {
// only 200(?) bytes are guaranteed by AP_Logger // only 200(?) bytes are guaranteed by AP_Logger
@ -284,9 +289,4 @@ void Sub::Log_Write_Vehicle_Startup_Messages()
} }
void Sub::log_init()
{
logger.Init(log_structure, ARRAY_SIZE(log_structure));
}
#endif // HAL_LOGGING_ENABLED #endif // HAL_LOGGING_ENABLED

11
ArduSub/Parameters.cpp
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@ -561,12 +561,6 @@ const AP_Param::Info Sub::var_info[] = {
GOBJECT(camera_mount, "MNT", AP_Mount), GOBJECT(camera_mount, "MNT", AP_Mount),
#endif #endif
#if HAL_LOGGING_ENABLED
// @Group: LOG
// @Path: ../libraries/AP_Logger/AP_Logger.cpp
GOBJECT(logger, "LOG", AP_Logger),
#endif
// @Group: BATT // @Group: BATT
// @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
GOBJECT(battery, "BATT", AP_BattMonitor), GOBJECT(battery, "BATT", AP_BattMonitor),
@ -814,6 +808,11 @@ void Sub::load_parameters()
AP_Param::convert_class(scripting_info.old_key, &scripting, scripting.var_info, scripting_old_index, scripting_old_top_element, false); AP_Param::convert_class(scripting_info.old_key, &scripting, scripting.var_info, scripting_old_index, scripting_old_top_element, false);
} }
#endif #endif
// PARAMETER_CONVERSION - Added: Feb-2024
#if HAL_LOGGING_ENABLED
AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
#endif
} }
void Sub::convert_old_parameters() void Sub::convert_old_parameters()

3
ArduSub/Sub.cpp
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@ -25,9 +25,6 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
*/ */
Sub::Sub() Sub::Sub()
: :
#if HAL_LOGGING_ENABLED
logger(g.log_bitmask),
#endif
control_mode(Mode::Number::MANUAL), control_mode(Mode::Number::MANUAL),
motors(MAIN_LOOP_RATE), motors(MAIN_LOOP_RATE),
auto_mode(Auto_WP), auto_mode(Auto_WP),

11
ArduSub/Sub.h
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@ -146,10 +146,6 @@ private:
RC_Channel *channel_forward; RC_Channel *channel_forward;
RC_Channel *channel_lateral; RC_Channel *channel_lateral;
#if HAL_LOGGING_ENABLED
AP_Logger logger;
#endif
AP_LeakDetector leak_detector; AP_LeakDetector leak_detector;
struct { struct {
@ -403,6 +399,13 @@ private:
float get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt); float get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt);
void rotate_body_frame_to_NE(float &x, float &y); void rotate_body_frame_to_NE(float &x, float &y);
#if HAL_LOGGING_ENABLED #if HAL_LOGGING_ENABLED
// methods for AP_Vehicle:
const AP_Int32 &get_log_bitmask() override { return g.log_bitmask; }
const struct LogStructure *get_log_structures() const override {
return log_structure;
}
uint8_t get_num_log_structures() const override;
void Log_Write_Control_Tuning(); void Log_Write_Control_Tuning();
void Log_Write_Attitude(); void Log_Write_Attitude();
void Log_Write_Data(LogDataID id, int32_t value); void Log_Write_Data(LogDataID id, int32_t value);

4
ArduSub/system.cpp
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@ -52,10 +52,6 @@ void Sub::init_ardupilot()
// setup telem slots with serial ports // setup telem slots with serial ports
gcs().setup_uarts(); gcs().setup_uarts();
#if HAL_LOGGING_ENABLED
log_init();
#endif
// initialise rc channels including setting mode // initialise rc channels including setting mode
rc().convert_options(RC_Channel::AUX_FUNC::ARMDISARM_UNUSED, RC_Channel::AUX_FUNC::ARMDISARM); rc().convert_options(RC_Channel::AUX_FUNC::ARMDISARM_UNUSED, RC_Channel::AUX_FUNC::ARMDISARM);
rc().init(); rc().init();