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AP_Logger: const-struct many structures, use temp for navekf object

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This commit is contained in:
Peter Barker 2019-07-02 19:31:02 +10:00 committed by Peter Barker
parent 13aaf4375b
commit b2d9d7b6a0
4 changed files with 43 additions and 44 deletions
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6
libraries/AP_Logger/AP_Logger.cpp
View File

@ -1075,7 +1075,7 @@ bool AP_Logger::Write_ISBH(const uint16_t seqno,
if (_next_backend == 0) {
return false;
}
struct log_ISBH pkt = {
const struct log_ISBH pkt{
LOG_PACKET_HEADER_INIT(LOG_ISBH_MSG),
time_us : AP_HAL::micros64(),
seqno : seqno,
@ -1127,7 +1127,7 @@ bool AP_Logger::Write_ISBD(const uint16_t isb_seqno,
// Wrote an event packet
void AP_Logger::Write_Event(Log_Event id)
{
struct log_Event pkt = {
const struct log_Event pkt{
LOG_PACKET_HEADER_INIT(LOG_EVENT_MSG),
time_us : AP_HAL::micros64(),
id : id
@ -1139,7 +1139,7 @@ void AP_Logger::Write_Event(Log_Event id)
void AP_Logger::Write_Error(LogErrorSubsystem sub_system,
LogErrorCode error_code)
{
struct log_Error pkt = {
const struct log_Error pkt{
LOG_PACKET_HEADER_INIT(LOG_ERROR_MSG),
time_us : AP_HAL::micros64(),
sub_system : uint8_t(sub_system),

2
libraries/AP_Logger/AP_Logger_Backend.cpp
View File

@ -416,7 +416,7 @@ bool AP_Logger_Backend::Write_RallyPoint(uint8_t total,
uint8_t sequence,
const RallyLocation &rally_point)
{
struct log_Rally pkt_rally = {
const struct log_Rally pkt_rally{
LOG_PACKET_HEADER_INIT(LOG_RALLY_MSG),
time_us : AP_HAL::micros64(),
total : total,

2
libraries/AP_Logger/AP_Logger_MAVLink.cpp
View File

@ -323,7 +323,7 @@ void AP_Logger_MAVLink::Write_logger_MAV(AP_Logger_MAVLink &logger_mav)
if (logger_mav.stats.collection_count == 0) {
return;
}
struct log_MAV_Stats pkt = {
const struct log_MAV_Stats pkt{
LOG_PACKET_HEADER_INIT(LOG_MAV_STATS),
timestamp : AP_HAL::millis(),
seqno : logger_mav._next_seq_num-1,

77
libraries/AP_Logger/LogFile.cpp
View File

@ -67,7 +67,7 @@ bool AP_Logger_Backend::Write_Format(const struct LogStructure *s)
*/
bool AP_Logger_Backend::Write_Unit(const struct UnitStructure *s)
{
struct log_Unit pkt = {
struct log_Unit pkt{
LOG_PACKET_HEADER_INIT(LOG_UNIT_MSG),
time_us : AP_HAL::micros64(),
type : s->ID,
@ -83,7 +83,7 @@ bool AP_Logger_Backend::Write_Unit(const struct UnitStructure *s)
*/
bool AP_Logger_Backend::Write_Multiplier(const struct MultiplierStructure *s)
{
struct log_Format_Multiplier pkt = {
const struct log_Format_Multiplier pkt{
LOG_PACKET_HEADER_INIT(LOG_MULT_MSG),
time_us : AP_HAL::micros64(),
type : s->ID,
@ -108,7 +108,7 @@ bool AP_Logger_Backend::Write_Format_Units(const struct LogStructure *s)
*/
bool AP_Logger_Backend::Write_Parameter(const char *name, float value)
{
struct log_Parameter pkt = {
struct log_Parameter pkt{
LOG_PACKET_HEADER_INIT(LOG_PARAMETER_MSG),
time_us : AP_HAL::micros64(),
name : {},
@ -142,7 +142,7 @@ void AP_Logger::Write_GPS(uint8_t i, uint64_t time_us)
float yaw_deg=0, yaw_accuracy_deg=0;
gps.gps_yaw_deg(i, yaw_deg, yaw_accuracy_deg);
struct log_GPS pkt = {
const struct log_GPS pkt = {
LOG_PACKET_HEADER_INIT((uint8_t)(LOG_GPS_MSG+i)),
time_us : time_us,
status : (uint8_t)gps.status(i),
@ -166,7 +166,7 @@ void AP_Logger::Write_GPS(uint8_t i, uint64_t time_us)
gps.horizontal_accuracy(i, hacc);
gps.vertical_accuracy(i, vacc);
gps.speed_accuracy(i, sacc);
struct log_GPA pkt2 = {
struct log_GPA pkt2{
LOG_PACKET_HEADER_INIT((uint8_t)(LOG_GPA_MSG+i)),
time_us : time_us,
vdop : gps.get_vdop(i),
@ -186,7 +186,7 @@ void AP_Logger::Write_RCIN(void)
{
uint16_t values[14] = {};
rc().get_radio_in(values, ARRAY_SIZE(values));
struct log_RCIN pkt = {
const struct log_RCIN pkt{
LOG_PACKET_HEADER_INIT(LOG_RCIN_MSG),
time_us : AP_HAL::micros64(),
chan1 : values[0],
@ -210,7 +210,7 @@ void AP_Logger::Write_RCIN(void)
// Write an SERVO packet
void AP_Logger::Write_RCOUT(void)
{
struct log_RCOUT pkt = {
const struct log_RCOUT pkt{
LOG_PACKET_HEADER_INIT(LOG_RCOUT_MSG),
time_us : AP_HAL::micros64(),
chan1 : hal.rcout->read(0),
@ -239,7 +239,7 @@ void AP_Logger::Write_RSSI()
return;
}
struct log_RSSI pkt = {
const struct log_RSSI pkt{
LOG_PACKET_HEADER_INIT(LOG_RSSI_MSG),
time_us : AP_HAL::micros64(),
RXRSSI : rssi->read_receiver_rssi()
@ -253,7 +253,7 @@ void AP_Logger::Write_Baro_instance(uint64_t time_us, uint8_t baro_instance, enu
float climbrate = baro.get_climb_rate();
float drift_offset = baro.get_baro_drift_offset();
float ground_temp = baro.get_ground_temperature();
struct log_BARO pkt = {
const struct log_BARO pkt{
LOG_PACKET_HEADER_INIT(type),
time_us : time_us,
altitude : baro.get_altitude(baro_instance),
@ -289,7 +289,7 @@ void AP_Logger::Write_IMU_instance(const uint64_t time_us, const uint8_t imu_ins
const AP_InertialSensor &ins = AP::ins();
const Vector3f &gyro = ins.get_gyro(imu_instance);
const Vector3f &accel = ins.get_accel(imu_instance);
struct log_IMU pkt = {
const struct log_IMU pkt{
LOG_PACKET_HEADER_INIT(type),
time_us : time_us,
gyro_x : gyro.x,
@ -341,7 +341,7 @@ void AP_Logger::Write_IMUDT_instance(const uint64_t time_us, const uint8_t imu_i
ins.get_delta_angle(imu_instance, delta_angle);
ins.get_delta_velocity(imu_instance, delta_velocity);
struct log_IMUDT pkt = {
const struct log_IMUDT pkt{
LOG_PACKET_HEADER_INIT(type),
time_us : time_us,
delta_time : delta_t,
@ -385,7 +385,7 @@ void AP_Logger::Write_Vibration()
uint64_t time_us = AP_HAL::micros64();
const AP_InertialSensor &ins = AP::ins();
const Vector3f vibration = ins.get_vibration_levels();
struct log_Vibe pkt = {
const struct log_Vibe pkt{
LOG_PACKET_HEADER_INIT(LOG_VIBE_MSG),
time_us : time_us,
vibe_x : vibration.x,
@ -403,7 +403,7 @@ bool AP_Logger_Backend::Write_Mission_Cmd(const AP_Mission &mission,
{
mavlink_mission_item_int_t mav_cmd = {};
AP_Mission::mission_cmd_to_mavlink_int(cmd,mav_cmd);
struct log_Cmd pkt = {
const struct log_Cmd pkt{
LOG_PACKET_HEADER_INIT(LOG_CMD_MSG),
time_us : AP_HAL::micros64(),
command_total : mission.num_commands(),
@ -431,7 +431,7 @@ void AP_Logger_Backend::Write_EntireMission()
// Write a text message to the log
bool AP_Logger_Backend::Write_Message(const char *message)
{
struct log_Message pkt = {
struct log_Message pkt{
LOG_PACKET_HEADER_INIT(LOG_MESSAGE_MSG),
time_us : AP_HAL::micros64(),
msg : {}
@ -448,7 +448,7 @@ void AP_Logger::Write_Power(void)
// encode armed state in bit 3
safety_and_armed |= 1U<<2;
}
struct log_POWR pkt = {
const struct log_POWR pkt{
LOG_PACKET_HEADER_INIT(LOG_POWR_MSG),
time_us : AP_HAL::micros64(),
Vcc : hal.analogin->board_voltage(),
@ -469,7 +469,7 @@ void AP_Logger::Write_AHRS2(AP_AHRS &ahrs)
if (!ahrs.get_secondary_attitude(euler) || !ahrs.get_secondary_position(loc) || !ahrs.get_secondary_quaternion(quat)) {
return;
}
struct log_AHRS pkt = {
const struct log_AHRS pkt{
LOG_PACKET_HEADER_INIT(LOG_AHR2_MSG),
time_us : AP_HAL::micros64(),
roll : (int16_t)(degrees(euler.x)*100),
@ -495,7 +495,7 @@ void AP_Logger::Write_POS(AP_AHRS &ahrs)
}
float home, origin;
ahrs.get_relative_position_D_home(home);
struct log_POS pkt = {
const struct log_POS pkt{
LOG_PACKET_HEADER_INIT(LOG_POS_MSG),
time_us : AP_HAL::micros64(),
lat : loc.lat,
@ -534,7 +534,7 @@ void AP_Logger::Write_EKF_Timing(const char *name, uint64_t time_us, const struc
void AP_Logger::Write_Radio(const mavlink_radio_t &packet)
{
struct log_Radio pkt = {
const struct log_Radio pkt{
LOG_PACKET_HEADER_INIT(LOG_RADIO_MSG),
time_us : AP_HAL::micros64(),
rssi : packet.rssi,
@ -568,7 +568,7 @@ void AP_Logger::Write_CameraInfo(enum LogMessages msg, const Location &current_l
altitude_gps = 0;
}
struct log_Camera pkt = {
const struct log_Camera pkt{
LOG_PACKET_HEADER_INIT(static_cast<uint8_t>(msg)),
time_us : timestamp_us?timestamp_us:AP_HAL::micros64(),
gps_time : gps.time_week_ms(),
@ -600,7 +600,7 @@ void AP_Logger::Write_Trigger(const Location &current_loc)
// Write an attitude packet
void AP_Logger::Write_Attitude(AP_AHRS &ahrs, const Vector3f &targets)
{
struct log_Attitude pkt = {
const struct log_Attitude pkt{
LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG),
time_us : AP_HAL::micros64(),
control_roll : (int16_t)targets.x,
@ -618,7 +618,7 @@ void AP_Logger::Write_Attitude(AP_AHRS &ahrs, const Vector3f &targets)
// Write an attitude packet
void AP_Logger::Write_AttitudeView(AP_AHRS_View &ahrs, const Vector3f &targets)
{
struct log_Attitude pkt = {
const struct log_Attitude pkt{
LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG),
time_us : AP_HAL::micros64(),
control_roll : (int16_t)targets.x,
@ -652,7 +652,7 @@ void AP_Logger::Write_Current_instance(const uint64_t time_us,
consumed_wh = quiet_nanf();
}
struct log_Current pkt = {
const struct log_Current pkt = {
LOG_PACKET_HEADER_INIT(type),
time_us : time_us,
voltage : battery.voltage(battery_instance),
@ -668,7 +668,7 @@ void AP_Logger::Write_Current_instance(const uint64_t time_us,
// individual cell voltages
if (battery.has_cell_voltages(battery_instance)) {
const AP_BattMonitor::cells &cells = battery.get_cell_voltages(battery_instance);
struct log_Current_Cells cell_pkt = {
struct log_Current_Cells cell_pkt{
LOG_PACKET_HEADER_INIT(celltype),
time_us : time_us,
voltage : battery.voltage(battery_instance)
@ -714,7 +714,7 @@ void AP_Logger::Write_Compass_instance(const uint64_t time_us, const uint8_t mag
const Vector3f &mag_field = compass.get_field(mag_instance);
const Vector3f &mag_offsets = compass.get_offsets(mag_instance);
const Vector3f &mag_motor_offsets = compass.get_motor_offsets(mag_instance);
struct log_Compass pkt = {
const struct log_Compass pkt{
LOG_PACKET_HEADER_INIT(type),
time_us : time_us,
mag_x : (int16_t)mag_field.x,
@ -755,7 +755,7 @@ void AP_Logger::Write_Compass(uint64_t time_us)
// Write a mode packet.
bool AP_Logger_Backend::Write_Mode(uint8_t mode, uint8_t reason)
{
struct log_Mode pkt = {
const struct log_Mode pkt{
LOG_PACKET_HEADER_INIT(LOG_MODE_MSG),
time_us : AP_HAL::micros64(),
mode : mode,
@ -778,7 +778,7 @@ void AP_Logger::Write_ESC(uint8_t id, uint64_t time_us, int32_t rpm, uint16_t vo
if (id >= 8) {
return;
}
struct log_Esc pkt = {
const struct log_Esc pkt{
LOG_PACKET_HEADER_INIT(uint8_t(LOG_ESC1_MSG+id)),
time_us : time_us,
rpm : rpm,
@ -793,7 +793,7 @@ void AP_Logger::Write_ESC(uint8_t id, uint64_t time_us, int32_t rpm, uint16_t vo
// Write a Yaw PID packet
void AP_Logger::Write_PID(uint8_t msg_type, const PID_Info &info)
{
struct log_PID pkt = {
const struct log_PID pkt{
LOG_PACKET_HEADER_INIT(msg_type),
time_us : AP_HAL::micros64(),
target : info.target,
@ -809,10 +809,9 @@ void AP_Logger::Write_PID(uint8_t msg_type, const PID_Info &info)
void AP_Logger::Write_Origin(uint8_t origin_type, const Location &loc)
{
uint64_t time_us = AP_HAL::micros64();
struct log_ORGN pkt = {
const struct log_ORGN pkt{
LOG_PACKET_HEADER_INIT(LOG_ORGN_MSG),
time_us : time_us,
time_us : AP_HAL::micros64(),
origin_type : origin_type,
latitude : loc.lat,
longitude : loc.lng,
@ -823,7 +822,7 @@ void AP_Logger::Write_Origin(uint8_t origin_type, const Location &loc)
void AP_Logger::Write_RPM(const AP_RPM &rpm_sensor)
{
struct log_RPM pkt = {
const struct log_RPM pkt{
LOG_PACKET_HEADER_INIT(LOG_RPM_MSG),
time_us : AP_HAL::micros64(),
rpm1 : rpm_sensor.get_rpm(0),
@ -840,7 +839,7 @@ void AP_Logger::Write_Rate(const AP_AHRS_View *ahrs,
{
const Vector3f &rate_targets = attitude_control.rate_bf_targets();
const Vector3f &accel_target = pos_control.get_accel_target();
struct log_Rate pkt_rate = {
const struct log_Rate pkt_rate{
LOG_PACKET_HEADER_INIT(LOG_RATE_MSG),
time_us : AP_HAL::micros64(),
control_roll : degrees(rate_targets.x),
@ -862,7 +861,7 @@ void AP_Logger::Write_Rate(const AP_AHRS_View *ahrs,
// Write visual odometry sensor data
void AP_Logger::Write_VisualOdom(float time_delta, const Vector3f &angle_delta, const Vector3f &position_delta, float confidence)
{
struct log_VisualOdom pkt_visualodom = {
const struct log_VisualOdom pkt_visualodom{
LOG_PACKET_HEADER_INIT(LOG_VISUALODOM_MSG),
time_us : AP_HAL::micros64(),
time_delta : time_delta,
@ -880,7 +879,7 @@ void AP_Logger::Write_VisualOdom(float time_delta, const Vector3f &angle_delta,
// Write AOA and SSA
void AP_Logger::Write_AOA_SSA(AP_AHRS &ahrs)
{
struct log_AOA_SSA aoa_ssa = {
const struct log_AOA_SSA aoa_ssa{
LOG_PACKET_HEADER_INIT(LOG_AOA_SSA_MSG),
time_us : AP_HAL::micros64(),
AOA : ahrs.getAOA(),
@ -901,7 +900,7 @@ void AP_Logger::Write_Beacon(AP_Beacon &beacon)
float accuracy = 0.0f;
beacon.get_vehicle_position_ned(pos, accuracy);
struct log_Beacon pkt_beacon = {
const struct log_Beacon pkt_beacon{
LOG_PACKET_HEADER_INIT(LOG_BEACON_MSG),
time_us : AP_HAL::micros64(),
health : (uint8_t)beacon.healthy(),
@ -936,7 +935,7 @@ void AP_Logger::Write_Proximity(AP_Proximity &proximity)
float close_ang = 0.0f, close_dist = 0.0f;
proximity.get_closest_object(close_ang, close_dist);
struct log_Proximity pkt_proximity = {
const struct log_Proximity pkt_proximity{
LOG_PACKET_HEADER_INIT(LOG_PROXIMITY_MSG),
time_us : AP_HAL::micros64(),
health : (uint8_t)proximity.get_status(),
@ -957,7 +956,7 @@ void AP_Logger::Write_Proximity(AP_Proximity &proximity)
void AP_Logger::Write_SRTL(bool active, uint16_t num_points, uint16_t max_points, uint8_t action, const Vector3f& breadcrumb)
{
struct log_SRTL pkt_srtl = {
const struct log_SRTL pkt_srtl{
LOG_PACKET_HEADER_INIT(LOG_SRTL_MSG),
time_us : AP_HAL::micros64(),
active : active,
@ -973,7 +972,7 @@ void AP_Logger::Write_SRTL(bool active, uint16_t num_points, uint16_t max_points
void AP_Logger::Write_OABendyRuler(bool active, float target_yaw, float margin, const Location &final_dest, const Location &oa_dest)
{
struct log_OABendyRuler pkt = {
const struct log_OABendyRuler pkt{
LOG_PACKET_HEADER_INIT(LOG_OA_BENDYRULER_MSG),
time_us : AP_HAL::micros64(),
active : active,
@ -990,7 +989,7 @@ void AP_Logger::Write_OABendyRuler(bool active, float target_yaw, float margin,
void AP_Logger::Write_OADijkstra(uint8_t state, uint8_t curr_point, uint8_t tot_points, const Location &final_dest, const Location &oa_dest)
{
struct log_OADijkstra pkt = {
struct log_OADijkstra pkt{
LOG_PACKET_HEADER_INIT(LOG_OA_DIJKSTRA_MSG),
time_us : AP_HAL::micros64(),
state : state,