AP_Logger: log rally points into dataflash on upload

libraries/AP_Logger/AP_Logger.cpp

@@ -667,6 +667,13 @@ void AP_Logger::Write_Mission_Cmd(const AP_Mission &mission,
     FOR_EACH_BACKEND(Write_Mission_Cmd(mission, cmd));
 }
 
+void AP_Logger::Write_RallyPoint(uint8_t total,
+                                 uint8_t sequence,
+                                 const RallyLocation &rally_point)
+{
+    FOR_EACH_BACKEND(Write_RallyPoint(total, sequence, rally_point));
+}
+
 uint32_t AP_Logger::num_dropped() const
 {
     if (_next_backend == 0) {

libraries/AP_Logger/AP_Logger.h

@@ -207,7 +207,9 @@ public:
                         const AP_Motors &motors,
                         const AC_AttitudeControl &attitude_control,
                         const AC_PosControl &pos_control);
-    void Write_Rally();
+    void Write_RallyPoint(uint8_t total,
+                          uint8_t sequence,
+                          const RallyLocation &rally_point);
     void Write_VisualOdom(float time_delta, const Vector3f &angle_delta, const Vector3f &position_delta, float confidence);
     void Write_AOA_SSA(AP_AHRS &ahrs);
     void Write_Beacon(AP_Beacon &beacon);

libraries/AP_Logger/AP_Logger_Backend.cpp

@@ -416,3 +416,28 @@ bool AP_Logger_Backend::Write_MessageF(const char *fmt, ...)
 
     return Write_Message(msg);
 }
+
+// Write rally points
+bool AP_Logger_Backend::Write_RallyPoint(uint8_t total,
+                                         uint8_t sequence,
+                                         const RallyLocation &rally_point)
+{
+    struct log_Rally pkt_rally = {
+        LOG_PACKET_HEADER_INIT(LOG_RALLY_MSG),
+        time_us         : AP_HAL::micros64(),
+        total           : total,
+        sequence        : sequence,
+        latitude        : rally_point.lat,
+        longitude       : rally_point.lng,
+        altitude        : rally_point.alt
+    };
+    return WriteBlock(&pkt_rally, sizeof(pkt_rally));
+}
+
+// Write rally points
+void AP_Logger_Backend::Write_Rally()
+{
+    LoggerMessageWriter_WriteAllRallyPoints writer;
+    writer.set_dataflash_backend(this);
+    writer.process();
+}

libraries/AP_Logger/LogFile.cpp

@@ -1608,31 +1608,6 @@ void AP_Logger::Write_Rate(const AP_AHRS_View *ahrs,
     WriteBlock(&pkt_rate, sizeof(pkt_rate));
 }
 
-// Write rally points
-bool AP_Logger_Backend::Log_Write_RallyPoint(uint8_t total,
-                                             uint8_t sequence,
-                                             const RallyLocation &rally_point)
-{
-    struct log_Rally pkt_rally = {
-        LOG_PACKET_HEADER_INIT(LOG_RALLY_MSG),
-        time_us         : AP_HAL::micros64(),
-        total           : total,
-        sequence        : sequence,
-        latitude        : rally_point.lat,
-        longitude       : rally_point.lng,
-        altitude        : rally_point.alt
-    };
-    return WriteBlock(&pkt_rally, sizeof(pkt_rally));
-}
-
-// Write rally points
-void AP_Logger::Log_Write_Rally()
-{
-    AP_Logger_WriteAllRallyPoints writer;
-    writer.set_dataflash_backend(this);
-    writer.process();
-}
-
 // Write visual odometry sensor data
 void AP_Logger::Write_VisualOdom(float time_delta, const Vector3f &angle_delta, const Vector3f &position_delta, float confidence)
 {

libraries/AP_Logger/LoggerMessageWriter.cpp

@@ -190,7 +190,8 @@ void LoggerMessageWriter_WriteSysInfo::process() {
     _finished = true;  // all done!
 }
 
-void LoggerMessageWriter_WriteAllRallyPoints::process() {
+void LoggerMessageWriter_WriteAllRallyPoints::process()
+{
     const AP_Rally *_rally = AP::rally();
     if (_rally == nullptr) {
         _finished = true;
@@ -208,7 +209,7 @@ void LoggerMessageWriter_WriteAllRallyPoints::process() {
         FALLTHROUGH;
 
     case ar_blockwriter_stage_write_new_rally_message:
-        if (! _dataflash_backend->Log_Write_Message("New rally")) {
+        if (! _dataflash_backend->Write_Message("New rally")) {
             return; // call me again
         }
         stage = ar_blockwriter_stage_write_all_rally_points;
@@ -218,7 +219,7 @@ void LoggerMessageWriter_WriteAllRallyPoints::process() {
         while (_rally_number_to_send < _rally->get_rally_total()) {
             RallyLocation rallypoint;
             if (_rally->get_rally_point_with_index(_rally_number_to_send, rallypoint)) {
-                if (!_dataflash_backend->Log_Write_RallyPoint(
+                if (!_dataflash_backend->Write_RallyPoint(
                         _rally->get_rally_total(),
                         _rally_number_to_send,
                         rallypoint)) {
@@ -237,9 +238,9 @@ void LoggerMessageWriter_WriteAllRallyPoints::process() {
     _finished = true;
 }
 
-void DFMessageWriter_WriteAllRallyPoints::reset()
+void LoggerMessageWriter_WriteAllRallyPoints::reset()
 {
-    DFMessageWriter::reset();
+    LoggerMessageWriter::reset();
     stage = ar_blockwriter_stage_init;
     _rally_number_to_send = 0;
 }

libraries/AP_Logger/LoggerMessageWriter.h

@@ -78,7 +78,8 @@ class LoggerMessageWriter_DFLogStart : public LoggerMessageWriter {
 public:
     LoggerMessageWriter_DFLogStart() :
         _writesysinfo(),
-        _writeentiremission()
+        _writeentiremission(),
+        _writeallrallypoints()
         {
         }