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Sub: move Log_Write_Home_And_Origin into AP_AHRS

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This commit is contained in:
Peter Barker 2018-05-16 13:30:28 +10:00 committed by Andrew Tridgell
parent 052b76d017
commit 9a73f0c260
3 changed files with 3 additions and 20 deletions
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18
ArduSub/Log.cpp
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@ -274,21 +274,6 @@ void Sub::Log_Write_Error(uint8_t sub_system, uint8_t error_code)
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt)); DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
} }
// log EKF origin and ahrs home to dataflash
void Sub::Log_Write_Home_And_Origin()
{
// log ekf origin if set
Location ekf_orig;
if (ahrs.get_origin(ekf_orig)) {
DataFlash.Log_Write_Origin(LogOriginType::ekf_origin, ekf_orig);
}
// log ahrs home if set
if (ahrs.home_is_set()) {
DataFlash.Log_Write_Origin(LogOriginType::ahrs_home, ahrs.get_home());
}
}
// logs when baro or compass becomes unhealthy // logs when baro or compass becomes unhealthy
void Sub::Log_Sensor_Health() void Sub::Log_Sensor_Health()
{ {
@ -367,7 +352,7 @@ void Sub::Log_Write_Vehicle_Startup_Messages()
{ {
// only 200(?) bytes are guaranteed by DataFlash // only 200(?) bytes are guaranteed by DataFlash
DataFlash.Log_Write_Mode(control_mode, control_mode_reason); DataFlash.Log_Write_Mode(control_mode, control_mode_reason);
Log_Write_Home_And_Origin(); ahrs.Log_Write_Home_And_Origin();
gps.Write_DataFlash_Log_Startup_messages(); gps.Write_DataFlash_Log_Startup_messages();
} }
@ -391,7 +376,6 @@ void Sub::Log_Write_Data(uint8_t id, int16_t value) {}
void Sub::Log_Write_Data(uint8_t id, uint16_t value) {} void Sub::Log_Write_Data(uint8_t id, uint16_t value) {}
void Sub::Log_Write_Data(uint8_t id, float value) {} void Sub::Log_Write_Data(uint8_t id, float value) {}
void Sub::Log_Write_Error(uint8_t sub_system, uint8_t error_code) {} void Sub::Log_Write_Error(uint8_t sub_system, uint8_t error_code) {}
void Sub::Log_Write_Home_And_Origin() {}
void Sub::Log_Sensor_Health() {} void Sub::Log_Sensor_Health() {}
void Sub::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {} void Sub::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
void Sub::Log_Write_Vehicle_Startup_Messages() {} void Sub::Log_Write_Vehicle_Startup_Messages() {}

1
ArduSub/Sub.h
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@ -503,7 +503,6 @@ private:
void Log_Write_Data(uint8_t id, uint16_t value); void Log_Write_Data(uint8_t id, uint16_t value);
void Log_Write_Data(uint8_t id, float value); void Log_Write_Data(uint8_t id, float value);
void Log_Write_Error(uint8_t sub_system, uint8_t error_code); void Log_Write_Error(uint8_t sub_system, uint8_t error_code);
void Log_Write_Home_And_Origin();
void Log_Sensor_Health(); void Log_Sensor_Health();
void Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target); void Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target);
void Log_Write_Vehicle_Startup_Messages(); void Log_Write_Vehicle_Startup_Messages();

4
ArduSub/commands.cpp
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@ -95,7 +95,7 @@ bool Sub::set_home(const Location& loc, bool lock)
} }
// log ahrs home and ekf origin dataflash // log ahrs home and ekf origin dataflash
Log_Write_Home_And_Origin(); ahrs.Log_Write_Home_And_Origin();
// send new home and ekf origin to GCS // send new home and ekf origin to GCS
gcs().send_home(loc); gcs().send_home(loc);
@ -125,7 +125,7 @@ void Sub::set_ekf_origin(const Location& loc)
} }
// log ahrs home and ekf origin dataflash // log ahrs home and ekf origin dataflash
Log_Write_Home_And_Origin(); ahrs.Log_Write_Home_And_Origin();
// send ekf origin to GCS // send ekf origin to GCS
gcs().send_ekf_origin(loc); gcs().send_ekf_origin(loc);