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Rover: integrate dataflash Log_Write_MavCmd

This commit is contained in:
Randy Mackay 2014-03-16 17:43:04 +09:00
parent 2f8daf2fa9
commit 954e10b26f
1 changed files with 10 additions and 1 deletions
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11
APMrover2/Log.pde
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@ -194,6 +194,14 @@ static void Log_Write_Performance()
DataFlash.WriteBlock(&pkt, sizeof(pkt)); DataFlash.WriteBlock(&pkt, sizeof(pkt));
} }
// Write a mission command. Total length : 36 bytes
static void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd)
{
mavlink_mission_item_t mav_cmd = {};
AP_Mission::mission_cmd_to_mavlink(cmd,mav_cmd);
DataFlash.Log_Write_MavCmd(mission.num_commands(),mav_cmd);
}
struct PACKED log_Camera { struct PACKED log_Camera {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint32_t time_ms; uint32_t time_ms;
@ -265,7 +273,7 @@ static void Log_Write_Startup(uint8_t type)
AP_Mission::Mission_Command cmd; AP_Mission::Mission_Command cmd;
for (uint16_t i = 0; i < mission.num_commands(); i++) { for (uint16_t i = 0; i < mission.num_commands(); i++) {
if(mission.read_cmd_from_storage(i,cmd)) { if(mission.read_cmd_from_storage(i,cmd)) {
DataFlash.Log_Write_Cmd(mission.num_commands(), cmd); Log_Write_Cmd(cmd);
} }
} }
} }
@ -567,6 +575,7 @@ static void Log_Write_Startup(uint8_t type) {}
static void Log_Write_Current() {} static void Log_Write_Current() {}
static void Log_Write_Nav_Tuning() {} static void Log_Write_Nav_Tuning() {}
static void Log_Write_Performance() {} static void Log_Write_Performance() {}
static void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd) {}
static int8_t process_logs(uint8_t argc, const Menu::arg *argv) { return 0; } static int8_t process_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
static void Log_Write_Control_Tuning() {} static void Log_Write_Control_Tuning() {}
static void Log_Write_Sonar() {} static void Log_Write_Sonar() {}