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Copter: use common Log_Write_Camera 

pair programmed with Craig Elder
This commit is contained in:
Randy Mackay 2014-06-11 11:55:50 +09:00 committed by Andrew Tridgell
parent 11e08e1492
commit 8c488ebd87
3 changed files with 2 additions and 36 deletions
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34
ArduCopter/Log.pde
View File

@ -609,37 +609,6 @@ static void Log_Write_Data(uint8_t id, float value)
}
}
struct PACKED log_Camera {
LOG_PACKET_HEADER;
uint32_t gps_time;
uint16_t gps_week;
int32_t latitude;
int32_t longitude;
int32_t altitude;
int16_t roll;
int16_t pitch;
uint16_t yaw;
};
// Write a Camera packet
static void Log_Write_Camera()
{
#if CAMERA == ENABLED
struct log_Camera pkt = {
LOG_PACKET_HEADER_INIT(LOG_CAMERA_MSG),
gps_time : gps.time_week_ms(),
gps_week : gps.time_week(),
latitude : current_loc.lat,
longitude : current_loc.lng,
altitude : current_loc.alt,
roll : (int16_t)ahrs.roll_sensor,
pitch : (int16_t)ahrs.pitch_sensor,
yaw : (uint16_t)ahrs.yaw_sensor
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
#endif
}
struct PACKED log_Error {
LOG_PACKET_HEADER;
uint8_t sub_system;
@ -702,8 +671,6 @@ static const struct LogStructure log_structure[] PROGMEM = {
"DU32", "BI", "Id,Value" },
{ LOG_DATA_FLOAT_MSG, sizeof(log_Data_Float),
"DFLT", "Bf", "Id,Value" },
{ LOG_CAMERA_MSG, sizeof(log_Camera),
"CAM", "IHLLeccC", "GPSTime,GPSWeek,Lat,Lng,Alt,Roll,Pitch,Yaw" },
{ LOG_ERROR_MSG, sizeof(log_Error),
"ERR", "BB", "Subsys,ECode" },
};
@ -778,7 +745,6 @@ static void Log_Write_Nav_Tuning() {}
static void Log_Write_Control_Tuning() {}
static void Log_Write_Performance() {}
static void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd) {}
static void Log_Write_Camera() {}
static void Log_Write_Error(uint8_t sub_system, uint8_t error_code) {}
static void Log_Write_Baro(void) {}
static int8_t process_logs(uint8_t argc, const Menu::arg *argv) {

2
ArduCopter/commands_logic.pde
View File

@ -853,7 +853,7 @@ static void do_take_picture()
#if CAMERA == ENABLED
camera.trigger_pic();
if (g.log_bitmask & MASK_LOG_CAMERA) {
Log_Write_Camera();
DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
}
#endif
}

2
ArduCopter/defines.h
View File

@ -220,7 +220,7 @@ enum FlipState {
#define LOG_PID_MSG 0x0E // deprecated
#define LOG_COMPASS_MSG 0x0F
#define LOG_INAV_MSG 0x11 // deprecated
#define LOG_CAMERA_MSG 0x12
#define LOG_CAMERA_MSG_DEPRECATED 0x12 // deprecated
#define LOG_ERROR_MSG 0x13
#define LOG_DATA_INT16_MSG 0x14
#define LOG_DATA_UINT16_MSG 0x15