From 8e91c72089f0c1c8072cb9f0c33de523f57d3efe Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 10 Jan 2024 14:37:03 +1100 Subject: [PATCH] Blimp: allow compilation with HAL_LOGGING_ENABLED false --- Blimp/AP_Arming.cpp | 8 +++++++- Blimp/AP_State.cpp | 2 +- Blimp/Blimp.cpp | 19 ++++++++++++++++--- Blimp/Blimp.h | 4 ++++ Blimp/Fins.cpp | 4 ++++ Blimp/GCS_Mavlink.cpp | 4 ++++ Blimp/Log.cpp | 21 ++------------------- Blimp/Loiter.cpp | 6 ++++++ Blimp/Parameters.cpp | 2 ++ Blimp/RC_Channel.cpp | 2 +- Blimp/config.h | 7 ------- Blimp/ekf_check.cpp | 16 ++++++++-------- Blimp/events.cpp | 10 +++++----- Blimp/failsafe.cpp | 4 ++-- Blimp/mode.cpp | 8 +++++--- Blimp/radio.cpp | 4 ++-- Blimp/system.cpp | 10 +++++----- 17 files changed, 74 insertions(+), 57 deletions(-) diff --git a/Blimp/AP_Arming.cpp b/Blimp/AP_Arming.cpp index adbc072e4b..2011502b2f 100644 --- a/Blimp/AP_Arming.cpp +++ b/Blimp/AP_Arming.cpp @@ -304,8 +304,10 @@ bool AP_Arming_Blimp::arm(const AP_Arming::Method method, const bool do_arming_c return false; } +#if HAL_LOGGING_ENABLED // let logger know that we're armed (it may open logs e.g.) AP::logger().set_vehicle_armed(true); +#endif // notify that arming will occur (we do this early to give plenty of warning) AP_Notify::flags.armed = true; @@ -323,7 +325,7 @@ bool AP_Arming_Blimp::arm(const AP_Arming::Method method, const bool do_arming_c if (!ahrs.home_is_set()) { // Reset EKF altitude if home hasn't been set yet (we use EKF altitude as substitute for alt above home) ahrs.resetHeightDatum(); - AP::logger().Write_Event(LogEvent::EKF_ALT_RESET); + LOGGER_WRITE_EVENT(LogEvent::EKF_ALT_RESET); // we have reset height, so arming height is zero blimp.arming_altitude_m = 0; @@ -342,8 +344,10 @@ bool AP_Arming_Blimp::arm(const AP_Arming::Method method, const bool do_arming_c // finally actually arm the motors blimp.motors->armed(true); +#if HAL_LOGGING_ENABLED // log flight mode in case it was changed while vehicle was disarmed AP::logger().Write_Mode((uint8_t)blimp.control_mode, blimp.control_mode_reason); +#endif // perf monitor ignores delay due to arming AP::scheduler().perf_info.ignore_this_loop(); @@ -391,7 +395,9 @@ bool AP_Arming_Blimp::disarm(const AP_Arming::Method method, bool do_disarm_chec // send disarm command to motors blimp.motors->armed(false); +#if HAL_LOGGING_ENABLED AP::logger().set_vehicle_armed(false); +#endif hal.util->set_soft_armed(false); diff --git a/Blimp/AP_State.cpp b/Blimp/AP_State.cpp index 47214730d9..5dcebd6895 100644 --- a/Blimp/AP_State.cpp +++ b/Blimp/AP_State.cpp @@ -10,7 +10,7 @@ void Blimp::set_auto_armed(bool b) ap.auto_armed = b; if (b) { - AP::logger().Write_Event(LogEvent::AUTO_ARMED); + LOGGER_WRITE_EVENT(LogEvent::AUTO_ARMED); } } diff --git a/Blimp/Blimp.cpp b/Blimp/Blimp.cpp index fc03cc4c8f..45a1c0d65b 100644 --- a/Blimp/Blimp.cpp +++ b/Blimp/Blimp.cpp @@ -76,7 +76,7 @@ const AP_Scheduler::Task Blimp::scheduler_tasks[] = { SCHED_TASK_CLASS(AP_ServoRelayEvents, &blimp.ServoRelayEvents, update_events, 50, 75, 27), #endif SCHED_TASK_CLASS(AP_Baro, &blimp.barometer, accumulate, 50, 90, 30), -#if LOGGING_ENABLED == ENABLED +#if HAL_LOGGING_ENABLED SCHED_TASK(full_rate_logging, 50, 50, 33), #endif SCHED_TASK_CLASS(AP_Notify, &blimp.notify, update, 50, 90, 36), @@ -86,13 +86,15 @@ const AP_Scheduler::Task Blimp::scheduler_tasks[] = { SCHED_TASK(gpsglitch_check, 10, 50, 48), SCHED_TASK_CLASS(GCS, (GCS*)&blimp._gcs, update_receive, 400, 180, 51), SCHED_TASK_CLASS(GCS, (GCS*)&blimp._gcs, update_send, 400, 550, 54), -#if LOGGING_ENABLED == ENABLED +#if HAL_LOGGING_ENABLED SCHED_TASK(ten_hz_logging_loop, 10, 350, 57), SCHED_TASK(twentyfive_hz_logging, 25, 110, 60), SCHED_TASK_CLASS(AP_Logger, &blimp.logger, periodic_tasks, 400, 300, 63), #endif SCHED_TASK_CLASS(AP_InertialSensor, &blimp.ins, periodic, 400, 50, 66), +#if HAL_LOGGING_ENABLED SCHED_TASK_CLASS(AP_Scheduler, &blimp.scheduler, update_logging, 0.1, 75, 69), +#endif #if STATS_ENABLED == ENABLED SCHED_TASK_CLASS(AP_Stats, &blimp.g2.stats, update, 1, 100, 75), #endif @@ -141,6 +143,7 @@ void Blimp::update_batt_compass(void) } } +#if HAL_LOGGING_ENABLED // Full rate logging of attitude, rate and pid loops void Blimp::full_rate_logging() { @@ -190,6 +193,7 @@ void Blimp::twentyfive_hz_logging() AP::ins().Write_IMU(); } } +#endif // HAL_LOGGING_ENABLED // three_hz_loop - 3.3hz loop void Blimp::three_hz_loop() @@ -201,9 +205,11 @@ void Blimp::three_hz_loop() // one_hz_loop - runs at 1Hz void Blimp::one_hz_loop() { +#if HAL_LOGGING_ENABLED if (should_log(MASK_LOG_ANY)) { Log_Write_Data(LogDataID::AP_STATE, ap.value); } +#endif // update assigned functions and enable auxiliary servos SRV_Channels::enable_aux_servos(); @@ -226,6 +232,7 @@ void Blimp::read_AHRS(void) vel_ned_filtd = {vel_xy_filtd.x, vel_xy_filtd.y, vel_z_filter.apply(vel_ned.z)}; vel_yaw_filtd = vel_yaw_filter.apply(vel_yaw); +#if HAL_LOGGING_ENABLED AP::logger().WriteStreaming("VNF", "TimeUS,X,XF,Y,YF,Z,ZF,Yaw,YawF,PX,PY,PZ,PYaw", "Qffffffffffff", AP_HAL::micros64(), vel_ned.x, @@ -240,6 +247,7 @@ void Blimp::read_AHRS(void) pos_ned.y, pos_ned.z, blimp.ahrs.get_yaw()); +#endif } // read baro and log control tuning @@ -248,12 +256,14 @@ void Blimp::update_altitude() // read in baro altitude read_barometer(); +#if HAL_LOGGING_ENABLED if (should_log(MASK_LOG_CTUN)) { AP::ins().write_notch_log_messages(); #if HAL_GYROFFT_ENABLED gyro_fft.write_log_messages(); #endif } +#endif } //Conversions are in 2D so that up remains up in world frame when the blimp is not exactly level. @@ -278,7 +288,10 @@ void Blimp::rotate_NE_to_BF(Vector2f &vec) constructor for main Blimp class */ Blimp::Blimp(void) - : logger(g.log_bitmask), + : +#if HAL_LOGGING_ENABLED + logger(g.log_bitmask), +#endif flight_modes(&g.flight_mode1), control_mode(Mode::Number::MANUAL), rc_throttle_control_in_filter(1.0f), diff --git a/Blimp/Blimp.h b/Blimp/Blimp.h index 32ac39b5bd..1b3d3309b3 100644 --- a/Blimp/Blimp.h +++ b/Blimp/Blimp.h @@ -114,7 +114,9 @@ private: RC_Channel *channel_up; RC_Channel *channel_yaw; +#if HAL_LOGGING_ENABLED AP_Logger logger; +#endif // flight modes convenience array AP_Int8 *flight_modes; @@ -352,6 +354,7 @@ private: // landing_gear.cpp void landinggear_update(); +#if HAL_LOGGING_ENABLED // Log.cpp void Log_Write_Performance(); void Log_Write_Attitude(); @@ -370,6 +373,7 @@ private: void log_init(void); void Write_FINI(float right, float front, float down, float yaw); void Write_FINO(float *amp, float *off); +#endif // mode.cpp bool set_mode(Mode::Number mode, ModeReason reason); diff --git a/Blimp/Fins.cpp b/Blimp/Fins.cpp index 0247a5795f..8e1eade2a2 100644 --- a/Blimp/Fins.cpp +++ b/Blimp/Fins.cpp @@ -80,7 +80,9 @@ void Fins::output() yaw_out = 0; } +#if HAL_LOGGING_ENABLED blimp.Write_FINI(right_out, front_out, down_out, yaw_out); +#endif //Constrain after logging so as to still show when sub-optimal tuning is causing massive overshoots. right_out = constrain_float(right_out, -1, 1); @@ -130,7 +132,9 @@ void Fins::output() SRV_Channels::set_output_scaled(SRV_Channels::get_motor_function(i), _pos[i] * FIN_SCALE_MAX); } +#if HAL_LOGGING_ENABLED blimp.Write_FINO(_amp, _off); +#endif } void Fins::output_min() diff --git a/Blimp/GCS_Mavlink.cpp b/Blimp/GCS_Mavlink.cpp index 8eaf6473dd..3e7f084ff0 100644 --- a/Blimp/GCS_Mavlink.cpp +++ b/Blimp/GCS_Mavlink.cpp @@ -518,7 +518,11 @@ void GCS_MAVLINK_Blimp::handleMessage(const mavlink_message_t &msg) case MAVLINK_MSG_ID_RADIO: case MAVLINK_MSG_ID_RADIO_STATUS: { // MAV ID: 109 +#if HAL_LOGGING_ENABLED handle_radio_status(msg, blimp.should_log(MASK_LOG_PM)); +#else + handle_radio_status(msg, false); +#endif break; } diff --git a/Blimp/Log.cpp b/Blimp/Log.cpp index 17c3161fab..7d62fc9d5e 100644 --- a/Blimp/Log.cpp +++ b/Blimp/Log.cpp @@ -1,6 +1,6 @@ #include "Blimp.h" -#if LOGGING_ENABLED == ENABLED +#if HAL_LOGGING_ENABLED // Code to Write and Read packets from AP_Logger log memory // Code to interact with the user to dump or erase logs @@ -407,21 +407,4 @@ void Blimp::log_init(void) logger.Init(log_structure, ARRAY_SIZE(log_structure)); } -#else // LOGGING_ENABLED - -void Blimp::Log_Write_Performance() {} -void Blimp::Log_Write_Attitude(void) {} -void Blimp::Log_Write_PIDs(void) {} -void Blimp::Log_Write_EKF_POS() {} -void Blimp::Log_Write_Data(LogDataID id, int32_t value) {} -void Blimp::Log_Write_Data(LogDataID id, uint32_t value) {} -void Blimp::Log_Write_Data(LogDataID id, int16_t value) {} -void Blimp::Log_Write_Data(LogDataID id, uint16_t value) {} -void Blimp::Log_Write_Data(LogDataID id, float value) {} -void Blimp::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max) {} -void Blimp::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {} -void Blimp::Log_Write_Vehicle_Startup_Messages() {} - -void Blimp::log_init(void) {} - -#endif // LOGGING_ENABLED +#endif // HAL_LOGGING_ENABLED diff --git a/Blimp/Loiter.cpp b/Blimp/Loiter.cpp index 8c6b5d5e7a..52e85f1b53 100644 --- a/Blimp/Loiter.cpp +++ b/Blimp/Loiter.cpp @@ -25,10 +25,12 @@ void Loiter::run(Vector3f& target_pos, float& target_yaw, Vector4b axes_disabled } scaler_yyaw = scaler_yyaw*MA + scaler_yyaw_n*MO; +#if HAL_LOGGING_ENABLED AP::logger().WriteStreaming("BSC", "TimeUS,xz,yyaw,xzn,yyawn", "Qffff", AP_HAL::micros64(), scaler_xz, scaler_yyaw, scaler_xz_n, scaler_yyaw_n); +#endif float yaw_ef = blimp.ahrs.get_yaw(); Vector3f err_xyz = target_pos - blimp.pos_ned; @@ -120,9 +122,11 @@ void Loiter::run(Vector3f& target_pos, float& target_yaw, Vector4b axes_disabled blimp.motors->yaw_out = act_yaw; } +#if HAL_LOGGING_ENABLED AP::logger().Write_PSCN(target_pos.x * 100.0, blimp.pos_ned.x * 100.0, 0.0, target_vel_ef_c.x * 100.0, blimp.vel_ned_filtd.x * 100.0, 0.0, 0.0, 0.0); AP::logger().Write_PSCE(target_pos.y * 100.0, blimp.pos_ned.y * 100.0, 0.0, target_vel_ef_c.y * 100.0, blimp.vel_ned_filtd.y * 100.0, 0.0, 0.0, 0.0); AP::logger().Write_PSCD(-target_pos.z * 100.0, -blimp.pos_ned.z * 100.0, 0.0, -target_vel_ef_c.z * 100.0, -blimp.vel_ned_filtd.z * 100.0, 0.0, 0.0, 0.0); +#endif } void Loiter::run_vel(Vector3f& target_vel_ef, float& target_vel_yaw, Vector4b axes_disabled) @@ -196,7 +200,9 @@ void Loiter::run_vel(Vector3f& target_vel_ef, float& target_vel_yaw, Vector4b ax blimp.motors->yaw_out = act_yaw; } +#if HAL_LOGGING_ENABLED AP::logger().Write_PSCN(0.0, blimp.pos_ned.x * 100.0, 0.0, target_vel_ef_c.x * 100.0, blimp.vel_ned_filtd.x * 100.0, 0.0, 0.0, 0.0); AP::logger().Write_PSCE(0.0, blimp.pos_ned.y * 100.0, 0.0, target_vel_ef_c.y * 100.0, blimp.vel_ned_filtd.y * 100.0, 0.0, 0.0, 0.0); AP::logger().Write_PSCD(0.0, -blimp.pos_ned.z * 100.0, 0.0, -target_vel_ef_c.z * 100.0, -blimp.vel_ned_filtd.z * 100.0, 0.0, 0.0, 0.0); +#endif } diff --git a/Blimp/Parameters.cpp b/Blimp/Parameters.cpp index 593e9f2668..3c19c9f516 100644 --- a/Blimp/Parameters.cpp +++ b/Blimp/Parameters.cpp @@ -341,9 +341,11 @@ const AP_Param::Info Blimp::var_info[] = { // @Path: ../libraries/AP_AHRS/AP_AHRS.cpp GOBJECT(ahrs, "AHRS_", AP_AHRS), +#if HAL_LOGGING_ENABLED // @Group: LOG // @Path: ../libraries/AP_Logger/AP_Logger.cpp GOBJECT(logger, "LOG", AP_Logger), +#endif // @Group: BATT // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp diff --git a/Blimp/RC_Channel.cpp b/Blimp/RC_Channel.cpp index 7709867cf2..ba94d82a17 100644 --- a/Blimp/RC_Channel.cpp +++ b/Blimp/RC_Channel.cpp @@ -132,7 +132,7 @@ void Blimp::save_trim() float roll_trim = ToRad((float)channel_right->get_control_in()/100.0f); float pitch_trim = ToRad((float)channel_front->get_control_in()/100.0f); ahrs.add_trim(roll_trim, pitch_trim); - AP::logger().Write_Event(LogEvent::SAVE_TRIM); + LOGGER_WRITE_EVENT(LogEvent::SAVE_TRIM); gcs().send_text(MAV_SEVERITY_INFO, "Trim saved"); } diff --git a/Blimp/config.h b/Blimp/config.h index 9c5908f65f..90985635a2 100644 --- a/Blimp/config.h +++ b/Blimp/config.h @@ -111,13 +111,6 @@ # define AUTO_DISARMING_DELAY 10 #endif -////////////////////////////////////////////////////////////////////////////// -// Logging control -// -#ifndef LOGGING_ENABLED -# define LOGGING_ENABLED ENABLED -#endif - // Default logging bitmask #ifndef DEFAULT_LOG_BITMASK # define DEFAULT_LOG_BITMASK \ diff --git a/Blimp/ekf_check.cpp b/Blimp/ekf_check.cpp index fd524b99ab..6b91eb6ec8 100644 --- a/Blimp/ekf_check.cpp +++ b/Blimp/ekf_check.cpp @@ -69,7 +69,7 @@ void Blimp::ekf_check() // limit count from climbing too high ekf_check_state.fail_count = EKF_CHECK_ITERATIONS_MAX; ekf_check_state.bad_variance = true; - AP::logger().Write_Error(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_BAD_VARIANCE); + LOGGER_WRITE_ERROR(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_BAD_VARIANCE); // send message to gcs if ((AP_HAL::millis() - ekf_check_state.last_warn_time) > EKF_CHECK_WARNING_TIME) { gcs().send_text(MAV_SEVERITY_CRITICAL,"EKF variance"); @@ -86,7 +86,7 @@ void Blimp::ekf_check() // if compass is flagged as bad and the counter reaches zero then clear flag if (ekf_check_state.bad_variance && ekf_check_state.fail_count == 0) { ekf_check_state.bad_variance = false; - AP::logger().Write_Error(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_VARIANCE_CLEARED); + LOGGER_WRITE_ERROR(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_VARIANCE_CLEARED); // clear failsafe failsafe_ekf_off_event(); } @@ -145,7 +145,7 @@ void Blimp::failsafe_ekf_event() // EKF failsafe event has occurred failsafe.ekf = true; - AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_OCCURRED); + LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_OCCURRED); // does this mode require position? if (!blimp.flightmode->requires_GPS() && (g.fs_ekf_action != FS_EKF_ACTION_LAND_EVEN_MANUAL)) { @@ -171,7 +171,7 @@ void Blimp::failsafe_ekf_off_event(void) } failsafe.ekf = false; - AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_RESOLVED); + LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_RESOLVED); } // check for ekf yaw reset and adjust target heading, also log position reset @@ -182,13 +182,13 @@ void Blimp::check_ekf_reset() uint32_t new_ekfYawReset_ms = ahrs.getLastYawResetAngle(yaw_angle_change_rad); if (new_ekfYawReset_ms != ekfYawReset_ms) { ekfYawReset_ms = new_ekfYawReset_ms; - AP::logger().Write_Event(LogEvent::EKF_YAW_RESET); + LOGGER_WRITE_EVENT(LogEvent::EKF_YAW_RESET); } // check for change in primary EKF, reset attitude target and log. AC_PosControl handles position target adjustment if ((ahrs.get_primary_core_index() != ekf_primary_core) && (ahrs.get_primary_core_index() != -1)) { ekf_primary_core = ahrs.get_primary_core_index(); - AP::logger().Write_Error(LogErrorSubsystem::EKF_PRIMARY, LogErrorCode(ekf_primary_core)); + LOGGER_WRITE_ERROR(LogErrorSubsystem::EKF_PRIMARY, LogErrorCode(ekf_primary_core)); gcs().send_text(MAV_SEVERITY_WARNING, "EKF primary changed:%d", (unsigned)ekf_primary_core); } } @@ -232,7 +232,7 @@ void Blimp::check_vibration() // restore ekf gains, reset timers and update user vibration_check.high_vibes = false; vibration_check.clear_ms = 0; - AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_VIBE, LogErrorCode::FAILSAFE_RESOLVED); + LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_VIBE, LogErrorCode::FAILSAFE_RESOLVED); gcs().send_text(MAV_SEVERITY_CRITICAL, "Vibration compensation OFF"); } } @@ -252,7 +252,7 @@ void Blimp::check_vibration() if (!vibration_check.high_vibes) { // switch ekf to use resistant gains vibration_check.high_vibes = true; - AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_VIBE, LogErrorCode::FAILSAFE_OCCURRED); + LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_VIBE, LogErrorCode::FAILSAFE_OCCURRED); gcs().send_text(MAV_SEVERITY_CRITICAL, "Vibration compensation ON"); } } diff --git a/Blimp/events.cpp b/Blimp/events.cpp index 452f624c5b..d7d7f7f52c 100644 --- a/Blimp/events.cpp +++ b/Blimp/events.cpp @@ -14,7 +14,7 @@ bool Blimp::failsafe_option(FailsafeOption opt) const void Blimp::failsafe_radio_on_event() { - AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_RADIO, LogErrorCode::FAILSAFE_OCCURRED); + LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_RADIO, LogErrorCode::FAILSAFE_OCCURRED); // set desired action based on FS_THR_ENABLE parameter Failsafe_Action desired_action; @@ -59,13 +59,13 @@ void Blimp::failsafe_radio_off_event() { // no need to do anything except log the error as resolved // user can now override roll, pitch, yaw and throttle and even use flight mode switch to restore previous flight mode - AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_RADIO, LogErrorCode::FAILSAFE_RESOLVED); + LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_RADIO, LogErrorCode::FAILSAFE_RESOLVED); gcs().send_text(MAV_SEVERITY_WARNING, "Radio Failsafe Cleared"); } void Blimp::handle_battery_failsafe(const char *type_str, const int8_t action) { - AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_BATT, LogErrorCode::FAILSAFE_OCCURRED); + LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_BATT, LogErrorCode::FAILSAFE_OCCURRED); Failsafe_Action desired_action = (Failsafe_Action)action; @@ -168,10 +168,10 @@ void Blimp::gpsglitch_check() if (ap.gps_glitching != gps_glitching) { ap.gps_glitching = gps_glitching; if (gps_glitching) { - AP::logger().Write_Error(LogErrorSubsystem::GPS, LogErrorCode::GPS_GLITCH); + LOGGER_WRITE_ERROR(LogErrorSubsystem::GPS, LogErrorCode::GPS_GLITCH); gcs().send_text(MAV_SEVERITY_CRITICAL,"GPS Glitch"); } else { - AP::logger().Write_Error(LogErrorSubsystem::GPS, LogErrorCode::ERROR_RESOLVED); + LOGGER_WRITE_ERROR(LogErrorSubsystem::GPS, LogErrorCode::ERROR_RESOLVED); gcs().send_text(MAV_SEVERITY_CRITICAL,"GPS Glitch cleared"); } } diff --git a/Blimp/failsafe.cpp b/Blimp/failsafe.cpp index 0c05d3ea91..3ea0d1199c 100644 --- a/Blimp/failsafe.cpp +++ b/Blimp/failsafe.cpp @@ -43,7 +43,7 @@ void Blimp::failsafe_check() failsafe_last_timestamp = tnow; if (in_failsafe) { in_failsafe = false; - AP::logger().Write_Error(LogErrorSubsystem::CPU, LogErrorCode::FAILSAFE_RESOLVED); + LOGGER_WRITE_ERROR(LogErrorSubsystem::CPU, LogErrorCode::FAILSAFE_RESOLVED); } return; } @@ -59,7 +59,7 @@ void Blimp::failsafe_check() //TODO: this may not work correctly. } - AP::logger().Write_Error(LogErrorSubsystem::CPU, LogErrorCode::FAILSAFE_OCCURRED); + LOGGER_WRITE_ERROR(LogErrorSubsystem::CPU, LogErrorCode::FAILSAFE_OCCURRED); } if (failsafe_enabled && in_failsafe && tnow - failsafe_last_timestamp > 1000000) { diff --git a/Blimp/mode.cpp b/Blimp/mode.cpp index b7d80bd906..9165036cb7 100644 --- a/Blimp/mode.cpp +++ b/Blimp/mode.cpp @@ -78,7 +78,7 @@ bool Blimp::set_mode(Mode::Number mode, ModeReason reason) new_flightmode->requires_GPS() && !blimp.position_ok()) { gcs().send_text(MAV_SEVERITY_WARNING, "Mode change failed: %s requires position", new_flightmode->name()); - AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode)); + LOGGER_WRITE_ERROR(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode)); return false; } @@ -89,13 +89,13 @@ bool Blimp::set_mode(Mode::Number mode, ModeReason reason) flightmode->has_manual_throttle() && !new_flightmode->has_manual_throttle()) { gcs().send_text(MAV_SEVERITY_WARNING, "Mode change failed: %s need alt estimate", new_flightmode->name()); - AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode)); + LOGGER_WRITE_ERROR(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode)); return false; } if (!new_flightmode->init(ignore_checks)) { gcs().send_text(MAV_SEVERITY_WARNING,"Flight mode change failed %s", new_flightmode->name()); - AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode)); + LOGGER_WRITE_ERROR(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode)); return false; } @@ -109,7 +109,9 @@ bool Blimp::set_mode(Mode::Number mode, ModeReason reason) flightmode = new_flightmode; control_mode = mode; control_mode_reason = reason; +#if HAL_LOGGING_ENABLED logger.Write_Mode((uint8_t)control_mode, reason); +#endif gcs().send_message(MSG_HEARTBEAT); // update notify object diff --git a/Blimp/radio.cpp b/Blimp/radio.cpp index 861c057820..02a42672e1 100644 --- a/Blimp/radio.cpp +++ b/Blimp/radio.cpp @@ -93,7 +93,7 @@ void Blimp::read_radio() } // Nobody ever talks to us. Log an error and enter failsafe. - AP::logger().Write_Error(LogErrorSubsystem::RADIO, LogErrorCode::RADIO_LATE_FRAME); + LOGGER_WRITE_ERROR(LogErrorSubsystem::RADIO, LogErrorCode::RADIO_LATE_FRAME); set_failsafe_radio(true); } @@ -155,4 +155,4 @@ void Blimp::set_throttle_zero_flag(int16_t throttle_control) ap.throttle_zero = true; } //TODO: This may not be needed -} \ No newline at end of file +} diff --git a/Blimp/system.cpp b/Blimp/system.cpp index f3d8bdc08e..83b2b832e1 100644 --- a/Blimp/system.cpp +++ b/Blimp/system.cpp @@ -38,7 +38,7 @@ void Blimp::init_ardupilot() // setup telem slots with serial ports gcs().setup_uarts(); -#if LOGGING_ENABLED == ENABLED +#if HAL_LOGGING_ENABLED log_init(); #endif @@ -81,8 +81,10 @@ void Blimp::init_ardupilot() barometer.set_log_baro_bit(MASK_LOG_IMU); barometer.calibrate(); +#if HAL_LOGGING_ENABLED // initialise AP_Logger library logger.setVehicle_Startup_Writer(FUNCTOR_BIND(&blimp, &Blimp::Log_Write_Vehicle_Startup_Messages, void)); +#endif startup_INS_ground(); @@ -224,18 +226,16 @@ void Blimp::update_auto_armed() } } +#if HAL_LOGGING_ENABLED /* should we log a message type now? */ bool Blimp::should_log(uint32_t mask) { -#if LOGGING_ENABLED == ENABLED ap.logging_started = logger.logging_started(); return logger.should_log(mask); -#else - return false; -#endif } +#endif // return MAV_TYPE corresponding to frame class MAV_TYPE Blimp::get_frame_mav_type()