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AP_Logger: log transfer: add error message if armed

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Iampete1 2021-08-30 14:44:47 +01:00 committed by Andrew Tridgell
parent fd7a879c85
commit a47eeb3fed
2 changed files with 11 additions and 15 deletions
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2
libraries/AP_Logger/AP_Logger.h
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@ -557,6 +557,7 @@ private:
// last time we handled a log-transfer-over-mavlink message:
uint32_t _last_mavlink_log_transfer_message_handled_ms;
bool _warned_log_disarm; // true if we have sent a message warning to disarm for logging
// next log list entry to send
uint16_t _log_next_list_entry;
@ -592,7 +593,6 @@ private:
// can be used by other subsystems to detect if they should log data
uint8_t _log_start_count;
bool should_handle_log_message() const;
void handle_log_message(class GCS_MAVLINK &, const mavlink_message_t &msg);
void handle_log_request_list(class GCS_MAVLINK &, const mavlink_message_t &msg);

24
libraries/AP_Logger/AP_Logger_MAVLinkLogTransfer.cpp
View File

@ -26,27 +26,23 @@
extern const AP_HAL::HAL& hal;
// We avoid doing log messages when timing is critical:
bool AP_Logger::should_handle_log_message() const
{
if (!WritesEnabled()) {
// this is currently used as a proxy for "in_mavlink_delay"
return false;
}
if (vehicle_is_armed()) {
return false;
}
return true;
}
/**
handle all types of log download requests from the GCS
*/
void AP_Logger::handle_log_message(GCS_MAVLINK &link, const mavlink_message_t &msg)
{
if (!should_handle_log_message()) {
if (!WritesEnabled()) {
// this is currently used as a proxy for "in_mavlink_delay"
return;
}
if (vehicle_is_armed()) {
if (!_warned_log_disarm) {
link.send_text(MAV_SEVERITY_ERROR, "Disarm for log download");
_warned_log_disarm = true;
}
return;
}
_warned_log_disarm = false;
_last_mavlink_log_transfer_message_handled_ms = AP_HAL::millis();
switch (msg.msgid) {
case MAVLINK_MSG_ID_LOG_REQUEST_LIST: