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Rover: use Dataflash lib's Log_Write_Cmd

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This commit is contained in:
Randy Mackay 2014-03-12 17:24:23 +09:00
parent f3813593b7
commit 9b0ae2fcff
2 changed files with 2 additions and 37 deletions
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38
APMrover2/Log.pde
View File

@ -194,37 +194,6 @@ static void Log_Write_Performance()
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Cmd {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint16_t command_total;
uint16_t command_number;
uint8_t waypoint_id;
uint8_t waypoint_options;
uint8_t waypoint_param1;
int32_t waypoint_altitude;
int32_t waypoint_latitude;
int32_t waypoint_longitude;
};
// Write a command processing packet. Total length : 19 bytes
static void Log_Write_Cmd(const AP_Mission::Mission_Command& cmd)
{
struct log_Cmd pkt = {
LOG_PACKET_HEADER_INIT(LOG_CMD_MSG),
time_ms : millis(),
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));
}
struct PACKED log_Camera {
LOG_PACKET_HEADER;
uint32_t time_ms;
@ -294,9 +263,9 @@ static void Log_Write_Startup(uint8_t type)
// write all commands to the dataflash as well
AP_Mission::Mission_Command cmd;
for (uint8_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)) {
Log_Write_Cmd(cmd);
DataFlash.Log_Write_Cmd(mission.num_commands(), cmd);
}
}
}
@ -535,8 +504,6 @@ static const struct LogStructure log_structure[] PROGMEM = {
"ATT", "IccC", "TimeMS,Roll,Pitch,Yaw" },
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "IIHIhhhBH", "TimeMS,LTime,MLC,gDt,GDx,GDy,GDz,I2CErr,INSErr" },
{ LOG_CMD_MSG, sizeof(log_Cmd),
"CMD", "IHHBBBeLL", "TimeMS,CTot,CNum,CId,COpt,Prm1,Alt,Lat,Lng" },
{ LOG_CAMERA_MSG, sizeof(log_Camera),
"CAM", "IIHLLeccC", "TimeMS,GPSTime,GPSWeek,Lat,Lng,Alt,Roll,Pitch,Yaw" },
{ LOG_STARTUP_MSG, sizeof(log_Startup),
@ -597,7 +564,6 @@ static void start_logging()
// dummy functions
static void Log_Write_Startup(uint8_t type) {}
static void Log_Write_Cmd(const AP_Mission::Mission_Command& cmd) {}
static void Log_Write_Current() {}
static void Log_Write_Nav_Tuning() {}
static void Log_Write_Performance() {}

1
APMrover2/defines.h
View File

@ -76,7 +76,6 @@ enum mode {
#define LOG_CTUN_MSG 0x01
#define LOG_NTUN_MSG 0x02
#define LOG_PERFORMANCE_MSG 0x03
#define LOG_CMD_MSG 0x04
#define LOG_CURRENT_MSG 0x05
#define LOG_STARTUP_MSG 0x06
#define LOG_SONAR_MSG 0x07