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Plane: Change Mode logging to use DataFlash library method.

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This commit is contained in:
Robert Lefebvre 2015-01-16 11:30:49 -05:00 committed by Randy Mackay
parent ac513a84db
commit a2d73b42b9
3 changed files with 2 additions and 23 deletions
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21
ArduPlane/Log.pde
View File

@ -316,25 +316,6 @@ static void Log_Write_Nav_Tuning()
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Mode {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint8_t mode;
uint8_t mode_num;
};
// Write a mode packet. Total length : 5 bytes
static void Log_Write_Mode(uint8_t mode)
{
struct log_Mode pkt = {
LOG_PACKET_HEADER_INIT(LOG_MODE_MSG),
time_ms : hal.scheduler->millis(),
mode : mode,
mode_num : mode
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Sonar {
LOG_PACKET_HEADER;
uint32_t timestamp;
@ -524,8 +505,6 @@ static const struct LogStructure log_structure[] PROGMEM = {
"NTUN", "ICfccccfI", "TimeMS,Yaw,WpDist,TargBrg,NavBrg,AltErr,Arspd,Alt,GSpdCM" },
{ LOG_SONAR_MSG, sizeof(log_Sonar),
"SONR", "IffffBBf", "TimeMS,DistCM,Volt,BaroAlt,GSpd,Thr,Cnt,Corr" },
{ LOG_MODE_MSG, sizeof(log_Mode),
"MODE", "IMB", "TimeMS,Mode,ModeNum" },
{ LOG_COMPASS_MSG, sizeof(log_Compass),
"MAG", "Ihhhhhh", "TimeMS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ" },
{ LOG_COMPASS2_MSG, sizeof(log_Compass),

2
ArduPlane/commands_logic.pde
View File

@ -299,7 +299,7 @@ static void do_RTL(void)
setup_turn_angle();
if (should_log(MASK_LOG_MODE))
Log_Write_Mode(control_mode);
DataFlash.Log_Write_Mode(control_mode);
}
static void do_takeoff(const AP_Mission::Mission_Command& cmd)

2
ArduPlane/system.pde
View File

@ -404,7 +404,7 @@ static void set_mode(enum FlightMode mode)
throttle_suppressed = auto_throttle_mode;
if (should_log(MASK_LOG_MODE))
Log_Write_Mode(control_mode);
DataFlash.Log_Write_Mode(control_mode);
// reset attitude integrators on mode change
rollController.reset_I();