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Plane: always log MODE and include reason when logging is enabled

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This commit is contained in:
Tom Pittenger 2017-10-23 17:39:45 -07:00 committed by Andrew Tridgell
parent f7d07fc146
commit 8adacfeea3
6 changed files with 6 additions and 13 deletions
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5
ArduPlane/ArduPlane.cpp
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@ -884,10 +884,7 @@ void Plane::set_flight_stage(AP_Vehicle::FixedWing::FlightStage fs)
}
flight_stage = fs;
if (should_log(MASK_LOG_MODE)) {
Log_Write_Status();
}
Log_Write_Status();
}
void Plane::update_alt()

2
ArduPlane/Log.cpp
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@ -402,7 +402,7 @@ void Plane::Log_Write_Vehicle_Startup_Messages()
{
// only 200(?) bytes are guaranteed by DataFlash
Log_Write_Startup(TYPE_GROUNDSTART_MSG);
DataFlash.Log_Write_Mode(control_mode);
DataFlash.Log_Write_Mode(control_mode, control_mode_reason);
DataFlash.Log_Write_Rally(rally);
Log_Write_Home_And_Origin();
gps.Write_DataFlash_Log_Startup_messages();

3
ArduPlane/commands_logic.cpp
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@ -346,8 +346,7 @@ void Plane::do_RTL(int32_t rtl_altitude)
setup_glide_slope();
setup_turn_angle();
if (should_log(MASK_LOG_MODE))
DataFlash.Log_Write_Mode(control_mode);
DataFlash.Log_Write_Mode(control_mode, control_mode_reason);
}
void Plane::do_takeoff(const AP_Mission::Mission_Command& cmd)

2
ArduPlane/defines.h
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@ -140,7 +140,7 @@ enum log_messages {
#define MASK_LOG_PM (1<<3)
#define MASK_LOG_CTUN (1<<4)
#define MASK_LOG_NTUN (1<<5)
#define MASK_LOG_MODE (1<<6)
//#define MASK_LOG_MODE (1<<6) // no longer used
#define MASK_LOG_IMU (1<<7)
#define MASK_LOG_CMD (1<<8)
#define MASK_LOG_CURRENT (1<<9)

4
ArduPlane/is_flying.cpp
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@ -152,9 +152,7 @@ void Plane::update_is_flying_5Hz(void)
crash_detection_update();
if (should_log(MASK_LOG_MODE)) {
Log_Write_Status();
}
Log_Write_Status();
// tell AHRS flying state
ahrs.set_likely_flying(new_is_flying);

3
ArduPlane/system.cpp
View File

@ -446,8 +446,7 @@ void Plane::set_mode(enum FlightMode mode, mode_reason_t reason)
adsb.set_is_auto_mode(auto_navigation_mode);
if (should_log(MASK_LOG_MODE))
DataFlash.Log_Write_Mode(control_mode);
DataFlash.Log_Write_Mode(control_mode, control_mode_reason);
// update notify with flight mode change
notify_flight_mode(control_mode);