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Plane: Remove SONR messages logging

This commit is contained in:
Rishabh 2020-03-31 12:11:08 +05:30 committed by Andrew Tridgell
parent a3a3abbf23
commit a76d0e3002
4 changed files with 0 additions and 46 deletions
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40
ArduPlane/Log.cpp
View File

@ -181,35 +181,6 @@ void Plane::Log_Write_Status()
logger.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Sonar {
LOG_PACKET_HEADER;
uint64_t time_us;
float distance;
float voltage;
uint8_t count;
float correction;
};
// Write a sonar packet. Note that RFND log messages are written by
// RangeFinder itself as part of update().
void Plane::Log_Write_Sonar()
{
uint16_t distance = 0;
if (rangefinder.status_orient(ROTATION_PITCH_270) == RangeFinder::Status::Good) {
distance = rangefinder.distance_cm_orient(ROTATION_PITCH_270);
}
struct log_Sonar pkt = {
LOG_PACKET_HEADER_INIT(LOG_SONAR_MSG),
time_us : AP_HAL::micros64(),
distance : (float)distance*0.01f,
voltage : rangefinder.voltage_mv_orient(ROTATION_PITCH_270)*0.001f,
count : rangefinder_state.in_range_count,
correction : rangefinder_state.correction
};
logger.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_AETR {
LOG_PACKET_HEADER;
uint64_t time_us;
@ -287,16 +258,6 @@ const struct LogStructure Plane::log_structure[] = {
{ LOG_NTUN_MSG, sizeof(log_Nav_Tuning),
"NTUN", "QfcccfffLLii", "TimeUS,Dist,TBrg,NavBrg,AltErr,XT,XTi,AspdE,TLat,TLng,TAlt,TAspd", "smddmmmnDUmn", "F0BBB0B0GGBB" },
// @LoggerMessage: SONR
// @Description: Sonar (downward facing rangefinder) related messages.
// @Field: TimeUS: Microseconds since system startup
// @Field: Dist: Distance as detected from the sensor
// @Field: Volt: Voltage at the sensor pin (only applicable for analog sensor)
// @Field: Cnt: Number of consecutive valid readings (maxes out at 10)
// @Field: Corr: Correction made to altitude reading from barometer reading
{ LOG_SONAR_MSG, sizeof(log_Sonar),
"SONR", "QffBf", "TimeUS,Dist,Volt,Cnt,Corr", "smv--", "FB0--" },
// @LoggerMessage: ATRP
// @Description: Pitch/Roll AutoTune messages for Plane
// @Field: TimeUS: Microseconds since system startup
@ -405,7 +366,6 @@ void Plane::Log_Write_Startup(uint8_t type) {}
void Plane::Log_Write_Control_Tuning() {}
void Plane::Log_Write_Nav_Tuning() {}
void Plane::Log_Write_Status() {}
void Plane::Log_Write_Sonar() {}
void Plane::Log_Write_RC(void) {}
void Plane::Log_Write_Vehicle_Startup_Messages() {}

1
ArduPlane/Plane.h
View File

@ -772,7 +772,6 @@ private:
void Log_Write_Control_Tuning();
void Log_Write_Nav_Tuning();
void Log_Write_Status();
void Log_Write_Sonar();
void Log_Write_RC(void);
void Log_Write_Vehicle_Startup_Messages();
void Log_Write_AOA_SSA();

1
ArduPlane/defines.h
View File

@ -83,7 +83,6 @@ enum log_messages {
LOG_NTUN_MSG,
LOG_STARTUP_MSG,
TYPE_GROUNDSTART_MSG,
LOG_SONAR_MSG,
LOG_STATUS_MSG,
LOG_QTUN_MSG,
LOG_PIQR_MSG,

4
ArduPlane/sensors.cpp
View File

@ -31,10 +31,6 @@ void Plane::read_rangefinder(void)
rangefinder.update();
if ((rangefinder.num_sensors() > 0) && should_log(MASK_LOG_SONAR)) {
Log_Write_Sonar();
}
rangefinder_height_update();
}