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Plane: use common Log_Write_Camera 

pair programmed with Craig Elder
This commit is contained in:
Randy Mackay 2014-06-11 11:58:30 +09:00 committed by Andrew Tridgell
parent 4d93dd47ee
commit ac65119cfe
3 changed files with 2 additions and 36 deletions
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34
ArduPlane/Log.pde
View File

@ -235,37 +235,6 @@ static void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd)
DataFlash.Log_Write_MavCmd(mission.num_commands(),mav_cmd);
}
struct PACKED log_Camera {
LOG_PACKET_HEADER;
uint32_t gps_time;
uint16_t gps_week;
int32_t latitude;
int32_t longitude;
int32_t altitude;
int16_t roll;
int16_t pitch;
uint16_t yaw;
};
// Write a Camera packet. Total length : 26 bytes
static void Log_Write_Camera()
{
#if CAMERA == ENABLED
struct log_Camera pkt = {
LOG_PACKET_HEADER_INIT(LOG_CAMERA_MSG),
gps_time : gps.time_week_ms(),
gps_week : gps.time_week(),
latitude : current_loc.lat,
longitude : current_loc.lng,
altitude : current_loc.alt,
roll : (int16_t)ahrs.roll_sensor,
pitch : (int16_t)ahrs.pitch_sensor,
yaw : (uint16_t)ahrs.yaw_sensor
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
#endif
}
struct PACKED log_Startup {
LOG_PACKET_HEADER;
uint8_t startup_type;
@ -543,8 +512,6 @@ static const struct LogStructure log_structure[] PROGMEM = {
"ATT", "IccCCC", "TimeMS,Roll,Pitch,Yaw,ErrorRP,ErrorYaw" },
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "IHIhhhBH", "LTime,MLC,gDt,GDx,GDy,GDz,I2CErr,INSErr" },
{ LOG_CAMERA_MSG, sizeof(log_Camera),
"CAM", "IHLLeccC", "GPSTime,GPSWeek,Lat,Lng,Alt,Roll,Pitch,Yaw" },
{ LOG_STARTUP_MSG, sizeof(log_Startup),
"STRT", "BH", "SType,CTot" },
{ LOG_CTUN_MSG, sizeof(log_Control_Tuning),
@ -611,7 +578,6 @@ static void Log_Write_Performance() {}
static void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd) {}
static void Log_Write_Attitude() {}
static void Log_Write_Control_Tuning() {}
static void Log_Write_Camera() {}
static void Log_Write_Mode(uint8_t mode) {}
static void Log_Write_Compass() {}
static void Log_Write_GPS(uint8_t instance) {}

2
ArduPlane/commands_logic.pde
View File

@ -596,7 +596,7 @@ static void do_take_picture()
#if CAMERA == ENABLED
camera.trigger_pic();
if (should_log(MASK_LOG_CAMERA)) {
Log_Write_Camera();
DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
}
#endif
}

2
ArduPlane/defines.h
View File

@ -117,7 +117,7 @@ enum log_messages {
LOG_STARTUP_MSG,
TYPE_AIRSTART_MSG,
TYPE_GROUNDSTART_MSG,
LOG_CAMERA_MSG,
LOG_CAMERA_MSG_DEPRECATED,
LOG_ATTITUDE_MSG,
LOG_MODE_MSG,
LOG_COMPASS_MSG,