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ArduCopter: move logging of compass ERR flags into AP_Compass

This commit is contained in:
Peter Barker 2022-05-03 11:49:56 +10:00 committed by Peter Barker
parent 336079ddfa
commit b0c8fda8d4
3 changed files with 0 additions and 25 deletions
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4
ArduCopter/Copter.cpp
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@ -138,8 +138,6 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
// camera mount's fast update // camera mount's fast update
FAST_TASK_CLASS(AP_Mount, &copter.camera_mount, update_fast), FAST_TASK_CLASS(AP_Mount, &copter.camera_mount, update_fast),
#endif #endif
// log sensor health
FAST_TASK(Log_Sensor_Health),
FAST_TASK(Log_Video_Stabilisation), FAST_TASK(Log_Video_Stabilisation),
SCHED_TASK(rc_loop, 100, 130, 3), SCHED_TASK(rc_loop, 100, 130, 3),
@ -743,8 +741,6 @@ Copter::Copter(void)
param_loader(var_info), param_loader(var_info),
flightmode(&mode_stabilize) flightmode(&mode_stabilize)
{ {
// init sensor error logging flags
sensor_health.compass = true;
} }
Copter copter; Copter copter;

6
ArduCopter/Copter.h
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@ -397,11 +397,6 @@ private:
return failsafe.radio || battery.has_failsafed() || failsafe.gcs || failsafe.ekf || failsafe.terrain || failsafe.adsb; return failsafe.radio || battery.has_failsafed() || failsafe.gcs || failsafe.ekf || failsafe.terrain || failsafe.adsb;
} }
// sensor health for logging
struct {
uint8_t compass : 1; // true if compass is healthy
} sensor_health;
// Motor Output // Motor Output
MOTOR_CLASS *motors; MOTOR_CLASS *motors;
const struct AP_Param::GroupInfo *motors_var_info; const struct AP_Param::GroupInfo *motors_var_info;
@ -800,7 +795,6 @@ private:
void Log_Write_Data(LogDataID id, uint16_t value); void Log_Write_Data(LogDataID id, uint16_t value);
void Log_Write_Data(LogDataID id, float value); void Log_Write_Data(LogDataID id, float value);
void Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max); void Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max);
void Log_Sensor_Health();
void Log_Video_Stabilisation(); void Log_Video_Stabilisation();
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
void Log_Write_Heli(void); void Log_Write_Heli(void);

15
ArduCopter/Log.cpp
View File

@ -220,20 +220,6 @@ void Copter::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float t
logger.WriteBlock(&pkt_tune, sizeof(pkt_tune)); logger.WriteBlock(&pkt_tune, sizeof(pkt_tune));
} }
// logs when compass becomes unhealthy
void Copter::Log_Sensor_Health()
{
if (!should_log(MASK_LOG_ANY)) {
return;
}
// check compass
if (sensor_health.compass != compass.healthy()) {
sensor_health.compass = compass.healthy();
AP::logger().Write_Error(LogErrorSubsystem::COMPASS, (sensor_health.compass ? LogErrorCode::ERROR_RESOLVED : LogErrorCode::UNHEALTHY));
}
}
void Copter::Log_Video_Stabilisation() void Copter::Log_Video_Stabilisation()
{ {
if (!should_log(MASK_LOG_VIDEO_STABILISATION)) { if (!should_log(MASK_LOG_VIDEO_STABILISATION)) {
@ -596,7 +582,6 @@ void Copter::Log_Write_Data(LogDataID id, int16_t value) {}
void Copter::Log_Write_Data(LogDataID id, uint16_t value) {} void Copter::Log_Write_Data(LogDataID id, uint16_t value) {}
void Copter::Log_Write_Data(LogDataID id, float value) {} void Copter::Log_Write_Data(LogDataID id, float value) {}
void Copter::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max) {} void Copter::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max) {}
void Copter::Log_Sensor_Health() {}
void Copter::Log_Write_Guided_Position_Target(ModeGuided::SubMode target_type, const Vector3f& pos_target, bool terrain_alt, const Vector3f& vel_target, const Vector3f& accel_target) {} void Copter::Log_Write_Guided_Position_Target(ModeGuided::SubMode target_type, const Vector3f& pos_target, bool terrain_alt, const Vector3f& vel_target, const Vector3f& accel_target) {}
void Copter::Log_Write_Guided_Attitude_Target(ModeGuided::SubMode target_type, float roll, float pitch, float yaw, const Vector3f &ang_vel, float thrust, float climb_rate) {} void Copter::Log_Write_Guided_Attitude_Target(ModeGuided::SubMode target_type, float roll, float pitch, float yaw, const Vector3f &ang_vel, float thrust, float climb_rate) {}
void Copter::Log_Write_SysID_Setup(uint8_t systemID_axis, float waveform_magnitude, float frequency_start, float frequency_stop, float time_fade_in, float time_const_freq, float time_record, float time_fade_out) {} void Copter::Log_Write_SysID_Setup(uint8_t systemID_axis, float waveform_magnitude, float frequency_start, float frequency_stop, float time_fade_in, float time_const_freq, float time_record, float time_fade_out) {}