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Plane: dataflash logging to use Mission command

This commit is contained in:
Randy Mackay 2014-03-03 22:48:49 +09:00
parent fdaf3fc177
commit 97f09ab426
1 changed files with 14 additions and 14 deletions
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28
ArduPlane/Log.pde
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@ -240,18 +240,18 @@ struct PACKED log_Cmd {
};
// Write a command processing packet. Total length : 19 bytes
static void Log_Write_Cmd(uint8_t num, const struct Location *wp)
static void Log_Write_Cmd(const AP_Mission::Mission_Command& cmd)
{
struct log_Cmd pkt = {
LOG_PACKET_HEADER_INIT(LOG_CMD_MSG),
command_total : g.command_total,
command_number : num,
waypoint_id : wp->id,
waypoint_options : wp->options,
waypoint_param1 : wp->p1,
waypoint_altitude : wp->alt,
waypoint_latitude : wp->lat,
waypoint_longitude : wp->lng
command_total : mission.num_commands(),
command_number : cmd.index,
waypoint_id : cmd.id,
waypoint_options : cmd.content.location.options,
waypoint_param1 : cmd.p1,
waypoint_altitude : cmd.content.location.alt,
waypoint_latitude : cmd.content.location.lat,
waypoint_longitude : cmd.content.location.lng
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
@ -298,15 +298,15 @@ static void Log_Write_Startup(uint8_t type)
struct log_Startup pkt = {
LOG_PACKET_HEADER_INIT(LOG_STARTUP_MSG),
startup_type : type,
command_total : g.command_total
command_total : mission.num_commands()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
// write all commands to the dataflash as well
struct Location cmd;
for (uint8_t i = 0; i <= g.command_total; i++) {
cmd = get_cmd_with_index(i);
Log_Write_Cmd(i, &cmd);
AP_Mission::Mission_Command cmd;
for (uint8_t i = 0; i < mission.num_commands(); i++) {
mission.read_cmd_from_storage(i,cmd);
Log_Write_Cmd(cmd);
}
}