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Copter: moved beacon logging to dataflash

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This commit is contained in:
karthik.desai 2017-04-18 16:43:30 +02:00 committed by Randy Mackay
parent 28a6ca7d75
commit afc382c342
2 changed files with 1 additions and 38 deletions
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38
ArduCopter/Log.cpp
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@ -819,21 +819,6 @@ void Copter::Log_Write_Proximity()
#endif
}
// beacon sensor logging
struct PACKED log_Beacon {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t health;
uint8_t count;
float dist0;
float dist1;
float dist2;
float dist3;
float posx;
float posy;
float posz;
};
// Write beacon position and distances
void Copter::Log_Write_Beacon()
{
@ -841,26 +826,7 @@ void Copter::Log_Write_Beacon()
if (!g2.beacon.enabled()) {
return;
}
// position
Vector3f pos;
float accuracy = 0.0f;
g2.beacon.get_vehicle_position_ned(pos, accuracy);
struct log_Beacon pkt = {
LOG_PACKET_HEADER_INIT(LOG_BEACON_MSG),
time_us : AP_HAL::micros64(),
health : (uint8_t)g2.beacon.healthy(),
count : (uint8_t)g2.beacon.count(),
dist0 : g2.beacon.beacon_distance(0),
dist1 : g2.beacon.beacon_distance(1),
dist2 : g2.beacon.beacon_distance(2),
dist3 : g2.beacon.beacon_distance(3),
posx : pos.x,
posy : pos.y,
posz : pos.z
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
DataFlash.Log_Write_Beacon(g2.beacon);
}
const struct LogStructure Copter::log_structure[] = {
@ -907,8 +873,6 @@ const struct LogStructure Copter::log_structure[] = {
"THRO", "QBffffbbbb", "TimeUS,Stage,Vel,VelZ,Acc,AccEfZ,Throw,AttOk,HgtOk,PosOk" },
{ LOG_PROXIMITY_MSG, sizeof(log_Proximity),
"PRX", "QBfffffffffff","TimeUS,Health,D0,D45,D90,D135,D180,D225,D270,D315,DUp,CAn,CDis" },
{ LOG_BEACON_MSG, sizeof(log_Beacon),
"BCN", "QBBfffffff", "TimeUS,Health,Cnt,D0,D1,D2,D3,PosX,PosY,PosZ" },
};
#if CLI_ENABLED == ENABLED

1
ArduCopter/defines.h
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@ -318,7 +318,6 @@ enum DevOptions {
#define LOG_GUIDEDTARGET_MSG 0x22
#define LOG_THROW_MSG 0x23
#define LOG_PROXIMITY_MSG 0x24
#define LOG_BEACON_MSG 0x25
#define MASK_LOG_ATTITUDE_FAST (1<<0)
#define MASK_LOG_ATTITUDE_MED (1<<1)