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GLOBAL: rename DataFlash_Class to AP_Logger

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This commit is contained in:
Peter Barker 2019-01-18 15:23:42 +11:00 committed by Andrew Tridgell
parent 0bf55ce3f4
commit b47733142f
180 changed files with 1039 additions and 1039 deletions
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14
APMrover2/APMrover2.cpp
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@ -83,7 +83,7 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
SCHED_TASK(compass_save, 0.1, 200), SCHED_TASK(compass_save, 0.1, 200),
SCHED_TASK(accel_cal_update, 10, 200), SCHED_TASK(accel_cal_update, 10, 200),
#if LOGGING_ENABLED == ENABLED #if LOGGING_ENABLED == ENABLED
SCHED_TASK_CLASS(DataFlash_Class, &rover.DataFlash, periodic_tasks, 50, 300), SCHED_TASK_CLASS(AP_Logger, &rover.logger, periodic_tasks, 50, 300),
#endif #endif
SCHED_TASK_CLASS(AP_InertialSensor, &rover.ins, periodic, 400, 200), SCHED_TASK_CLASS(AP_InertialSensor, &rover.ins, periodic, 400, 200),
SCHED_TASK_CLASS(AP_Scheduler, &rover.scheduler, update_logging, 0.1, 200), SCHED_TASK_CLASS(AP_Scheduler, &rover.scheduler, update_logging, 0.1, 200),
@ -139,7 +139,7 @@ void Rover::update_soft_armed()
{ {
hal.util->set_soft_armed(arming.is_armed() && hal.util->set_soft_armed(arming.is_armed() &&
hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED); hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
DataFlash.set_vehicle_armed(hal.util->get_soft_armed()); logger.set_vehicle_armed(hal.util->get_soft_armed());
} }
// update AHRS system // update AHRS system
@ -177,7 +177,7 @@ void Rover::ahrs_update()
} }
if (should_log(MASK_LOG_IMU)) { if (should_log(MASK_LOG_IMU)) {
DataFlash.Log_Write_IMU(); logger.Log_Write_IMU();
} }
} }
@ -204,7 +204,7 @@ void Rover::update_compass(void)
ahrs.set_compass(&compass); ahrs.set_compass(&compass);
// update offsets // update offsets
if (should_log(MASK_LOG_COMPASS)) { if (should_log(MASK_LOG_COMPASS)) {
DataFlash.Log_Write_Compass(); logger.Log_Write_Compass();
} }
} }
} }
@ -221,7 +221,7 @@ void Rover::update_logging1(void)
if (should_log(MASK_LOG_THR)) { if (should_log(MASK_LOG_THR)) {
Log_Write_Throttle(); Log_Write_Throttle();
DataFlash.Log_Write_Beacon(g2.beacon); logger.Log_Write_Beacon(g2.beacon);
} }
if (should_log(MASK_LOG_NTUN)) { if (should_log(MASK_LOG_NTUN)) {
@ -229,7 +229,7 @@ void Rover::update_logging1(void)
} }
if (should_log(MASK_LOG_RANGEFINDER)) { if (should_log(MASK_LOG_RANGEFINDER)) {
DataFlash.Log_Write_Proximity(g2.proximity); logger.Log_Write_Proximity(g2.proximity);
} }
} }
@ -248,7 +248,7 @@ void Rover::update_logging2(void)
} }
if (should_log(MASK_LOG_IMU)) { if (should_log(MASK_LOG_IMU)) {
DataFlash.Log_Write_Vibration(); logger.Log_Write_Vibration();
} }
} }

8
APMrover2/GCS_Mavlink.cpp
View File

@ -180,7 +180,7 @@ void GCS_MAVLINK_Rover::send_rangefinder() const
*/ */
void Rover::send_pid_tuning(mavlink_channel_t chan) void Rover::send_pid_tuning(mavlink_channel_t chan)
{ {
const DataFlash_Class::PID_Info *pid_info; const AP_Logger::PID_Info *pid_info;
// steering PID // steering PID
if (g.gcs_pid_mask & 1) { if (g.gcs_pid_mask & 1) {
pid_info = &g2.attitude_control.get_steering_rate_pid().get_pid_info(); pid_info = &g2.attitude_control.get_steering_rate_pid().get_pid_info();
@ -1130,7 +1130,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_RADIO: case MAVLINK_MSG_ID_RADIO:
case MAVLINK_MSG_ID_RADIO_STATUS: case MAVLINK_MSG_ID_RADIO_STATUS:
{ {
handle_radio_status(msg, rover.DataFlash, rover.should_log(MASK_LOG_PM)); handle_radio_status(msg, rover.logger, rover.should_log(MASK_LOG_PM));
break; break;
} }
@ -1168,7 +1168,7 @@ void Rover::mavlink_delay_cb()
} }
// don't allow potentially expensive logging calls: // don't allow potentially expensive logging calls:
DataFlash.EnableWrites(false); logger.EnableWrites(false);
const uint32_t tnow = millis(); const uint32_t tnow = millis();
if (tnow - last_1hz > 1000) { if (tnow - last_1hz > 1000) {
@ -1187,7 +1187,7 @@ void Rover::mavlink_delay_cb()
gcs().send_text(MAV_SEVERITY_INFO, "Initialising APM"); gcs().send_text(MAV_SEVERITY_INFO, "Initialising APM");
} }
DataFlash.EnableWrites(true); logger.EnableWrites(true);
} }
AP_AdvancedFailsafe *GCS_MAVLINK_Rover::get_advanced_failsafe() const AP_AdvancedFailsafe *GCS_MAVLINK_Rover::get_advanced_failsafe() const

66
APMrover2/Log.cpp
View File

@ -19,7 +19,7 @@ void Rover::Log_Write_Arm_Disarm()
arm_state : arming.is_armed(), arm_state : arming.is_armed(),
arm_checks : arming.get_enabled_checks() arm_checks : arming.get_enabled_checks()
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); logger.WriteBlock(&pkt, sizeof(pkt));
} }
// Write an attitude packet // Write an attitude packet
@ -28,26 +28,26 @@ void Rover::Log_Write_Attitude()
float desired_pitch_cd = degrees(g2.attitude_control.get_desired_pitch()) * 100.0f; float desired_pitch_cd = degrees(g2.attitude_control.get_desired_pitch()) * 100.0f;
const Vector3f targets(0.0f, desired_pitch_cd, 0.0f); const Vector3f targets(0.0f, desired_pitch_cd, 0.0f);
DataFlash.Log_Write_Attitude(ahrs, targets); logger.Log_Write_Attitude(ahrs, targets);
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE
DataFlash.Log_Write_EKF(ahrs); logger.Log_Write_EKF(ahrs);
DataFlash.Log_Write_AHRS2(ahrs); logger.Log_Write_AHRS2(ahrs);
#endif #endif
DataFlash.Log_Write_POS(ahrs); logger.Log_Write_POS(ahrs);
// log steering rate controller // log steering rate controller
DataFlash.Log_Write_PID(LOG_PIDS_MSG, g2.attitude_control.get_steering_rate_pid().get_pid_info()); logger.Log_Write_PID(LOG_PIDS_MSG, g2.attitude_control.get_steering_rate_pid().get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDA_MSG, g2.attitude_control.get_throttle_speed_pid().get_pid_info()); logger.Log_Write_PID(LOG_PIDA_MSG, g2.attitude_control.get_throttle_speed_pid().get_pid_info());
// log pitch control for balance bots // log pitch control for balance bots
if (is_balancebot()) { if (is_balancebot()) {
DataFlash.Log_Write_PID(LOG_PIDP_MSG, g2.attitude_control.get_pitch_to_throttle_pid().get_pid_info()); logger.Log_Write_PID(LOG_PIDP_MSG, g2.attitude_control.get_pitch_to_throttle_pid().get_pid_info());
} }
// log heel to sail control for sailboats // log heel to sail control for sailboats
if (g2.motors.has_sail()) { if (g2.motors.has_sail()) {
DataFlash.Log_Write_PID(LOG_PIDR_MSG, g2.attitude_control.get_sailboat_heel_pid().get_pid_info()); logger.Log_Write_PID(LOG_PIDR_MSG, g2.attitude_control.get_sailboat_heel_pid().get_pid_info());
} }
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
sitl.Log_Write_SIMSTATE(); sitl.Log_Write_SIMSTATE();
@ -75,7 +75,7 @@ void Rover::Log_Write_Depth()
} }
rangefinder_last_reading_ms = reading_ms; rangefinder_last_reading_ms = reading_ms;
DataFlash.Log_Write("DPTH", "TimeUS,Lat,Lng,Depth", logger.Log_Write("DPTH", "TimeUS,Lat,Lng,Depth",
"sDUm", "FGG0", "QLLf", "sDUm", "FGG0", "QLLf",
AP_HAL::micros64(), AP_HAL::micros64(),
loc.lat, loc.lat,
@ -99,7 +99,7 @@ void Rover::Log_Write_Error(uint8_t sub_system, uint8_t error_code)
sub_system : sub_system, sub_system : sub_system,
error_code : error_code, error_code : error_code,
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); logger.WriteBlock(&pkt, sizeof(pkt));
} }
// guided mode logging // guided mode logging
@ -129,7 +129,7 @@ void Rover::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_targ
vel_target_y : vel_target.y, vel_target_y : vel_target.y,
vel_target_z : vel_target.z vel_target_z : vel_target.z
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); logger.WriteBlock(&pkt, sizeof(pkt));
} }
struct PACKED log_Nav_Tuning { struct PACKED log_Nav_Tuning {
@ -154,7 +154,7 @@ void Rover::Log_Write_Nav_Tuning()
yaw : (uint16_t)ahrs.yaw_sensor, yaw : (uint16_t)ahrs.yaw_sensor,
xtrack_error : nav_controller->crosstrack_error() xtrack_error : nav_controller->crosstrack_error()
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); logger.WriteBlock(&pkt, sizeof(pkt));
} }
void Rover::Log_Write_Sail() void Rover::Log_Write_Sail()
@ -165,17 +165,17 @@ void Rover::Log_Write_Sail()
} }
// get wind direction // get wind direction
float wind_dir_abs = DataFlash.quiet_nanf(); float wind_dir_abs = logger.quiet_nanf();
float wind_dir_rel = DataFlash.quiet_nanf(); float wind_dir_rel = logger.quiet_nanf();
float wind_speed_true = DataFlash.quiet_nanf(); float wind_speed_true = logger.quiet_nanf();
float wind_speed_apparent = DataFlash.quiet_nanf(); float wind_speed_apparent = logger.quiet_nanf();
if (rover.g2.windvane.enabled()) { if (rover.g2.windvane.enabled()) {
wind_dir_abs = degrees(g2.windvane.get_absolute_wind_direction_rad()); wind_dir_abs = degrees(g2.windvane.get_absolute_wind_direction_rad());
wind_dir_rel = degrees(g2.windvane.get_apparent_wind_direction_rad()); wind_dir_rel = degrees(g2.windvane.get_apparent_wind_direction_rad());
wind_speed_true = g2.windvane.get_true_wind_speed(); wind_speed_true = g2.windvane.get_true_wind_speed();
wind_speed_apparent = g2.windvane.get_apparent_wind_speed(); wind_speed_apparent = g2.windvane.get_apparent_wind_speed();
} }
DataFlash.Log_Write("SAIL", "TimeUS,WindDirAbs,WindDirApp,WindSpdTrue,WindSpdApp,SailOut,VMG", logger.Log_Write("SAIL", "TimeUS,WindDirAbs,WindDirApp,WindSpdTrue,WindSpdApp,SailOut,VMG",
"shhnn%n", "F000000", "Qffffff", "shhnn%n", "F000000", "Qffffff",
AP_HAL::micros64(), AP_HAL::micros64(),
(double)wind_dir_abs, (double)wind_dir_abs,
@ -212,13 +212,13 @@ void Rover::Log_Write_Startup(uint8_t type)
startup_type : type, startup_type : type,
command_total : mode_auto.mission.num_commands() command_total : mode_auto.mission.num_commands()
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); logger.WriteBlock(&pkt, sizeof(pkt));
} }
// Write a steering packet // Write a steering packet
void Rover::Log_Write_Steering() void Rover::Log_Write_Steering()
{ {
float lat_accel = DataFlash.quiet_nanf(); float lat_accel = logger.quiet_nanf();
g2.attitude_control.get_lat_accel(lat_accel); g2.attitude_control.get_lat_accel(lat_accel);
struct log_Steering pkt = { struct log_Steering pkt = {
LOG_PACKET_HEADER_INIT(LOG_STEERING_MSG), LOG_PACKET_HEADER_INIT(LOG_STEERING_MSG),
@ -230,7 +230,7 @@ void Rover::Log_Write_Steering()
desired_turn_rate : degrees(g2.attitude_control.get_desired_turn_rate()), desired_turn_rate : degrees(g2.attitude_control.get_desired_turn_rate()),
turn_rate : degrees(ahrs.get_yaw_rate_earth()) turn_rate : degrees(ahrs.get_yaw_rate_earth())
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); logger.WriteBlock(&pkt, sizeof(pkt));
} }
struct PACKED log_Throttle { struct PACKED log_Throttle {
@ -247,7 +247,7 @@ struct PACKED log_Throttle {
void Rover::Log_Write_Throttle() void Rover::Log_Write_Throttle()
{ {
const Vector3f accel = ins.get_accel(); const Vector3f accel = ins.get_accel();
float speed = DataFlash.quiet_nanf(); float speed = logger.quiet_nanf();
g2.attitude_control.get_forward_speed(speed); g2.attitude_control.get_forward_speed(speed);
struct log_Throttle pkt = { struct log_Throttle pkt = {
LOG_PACKET_HEADER_INIT(LOG_THR_MSG), LOG_PACKET_HEADER_INIT(LOG_THR_MSG),
@ -258,7 +258,7 @@ void Rover::Log_Write_Throttle()
speed : speed, speed : speed,
accel_y : accel.y accel_y : accel.y
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); logger.WriteBlock(&pkt, sizeof(pkt));
} }
struct PACKED log_Rangefinder { struct PACKED log_Rangefinder {
@ -295,15 +295,15 @@ void Rover::Log_Write_Rangefinder()
ground_speed : static_cast<uint16_t>(fabsf(ground_speed * 100.0f)), ground_speed : static_cast<uint16_t>(fabsf(ground_speed * 100.0f)),
throttle : int8_t(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle)) throttle : int8_t(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle))
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); logger.WriteBlock(&pkt, sizeof(pkt));
} }
void Rover::Log_Write_RC(void) void Rover::Log_Write_RC(void)
{ {
DataFlash.Log_Write_RCIN(); logger.Log_Write_RCIN();
DataFlash.Log_Write_RCOUT(); logger.Log_Write_RCOUT();
if (rssi.enabled()) { if (rssi.enabled()) {
DataFlash.Log_Write_RSSI(rssi); logger.Log_Write_RSSI(rssi);
} }
} }
@ -336,20 +336,20 @@ void Rover::Log_Write_WheelEncoder()
quality_1 : (uint8_t)constrain_float(g2.wheel_encoder.get_signal_quality(1), 0.0f, 100.0f), quality_1 : (uint8_t)constrain_float(g2.wheel_encoder.get_signal_quality(1), 0.0f, 100.0f),
rpm_1 : wheel_encoder_rpm[1] rpm_1 : wheel_encoder_rpm[1]
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); logger.WriteBlock(&pkt, sizeof(pkt));
} }
void Rover::Log_Write_Vehicle_Startup_Messages() void Rover::Log_Write_Vehicle_Startup_Messages()
{ {
// only 200(?) bytes are guaranteed by DataFlash // only 200(?) bytes are guaranteed by AP_Logger
Log_Write_Startup(TYPE_GROUNDSTART_MSG); Log_Write_Startup(TYPE_GROUNDSTART_MSG);
DataFlash.Log_Write_Mode(control_mode->mode_number(), control_mode_reason); logger.Log_Write_Mode(control_mode->mode_number(), control_mode_reason);
ahrs.Log_Write_Home_And_Origin(); ahrs.Log_Write_Home_And_Origin();
gps.Write_DataFlash_Log_Startup_messages(); gps.Write_AP_Logger_Log_Startup_messages();
} }
// type and unit information can be found in // type and unit information can be found in
// libraries/DataFlash/Logstructure.h; search for "log_Units" for // libraries/AP_Logger/Logstructure.h; search for "log_Units" for
// units and "Format characters" for field type information // units and "Format characters" for field type information
const LogStructure Rover::log_structure[] = { const LogStructure Rover::log_structure[] = {
LOG_COMMON_STRUCTURES, LOG_COMMON_STRUCTURES,
@ -375,7 +375,7 @@ const LogStructure Rover::log_structure[] = {
void Rover::log_init(void) void Rover::log_init(void)
{ {
DataFlash.Init(log_structure, ARRAY_SIZE(log_structure)); logger.Init(log_structure, ARRAY_SIZE(log_structure));
} }
#else // LOGGING_ENABLED #else // LOGGING_ENABLED

4
APMrover2/Parameters.cpp
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@ -377,8 +377,8 @@ const AP_Param::Info Rover::var_info[] = {
GOBJECT(arming, "ARMING_", AP_Arming), GOBJECT(arming, "ARMING_", AP_Arming),
// @Group: LOG // @Group: LOG
// @Path: ../libraries/DataFlash/DataFlash.cpp // @Path: ../libraries/AP_Logger/AP_Logger.cpp
GOBJECT(DataFlash, "LOG", DataFlash_Class), GOBJECT(logger, "LOG", AP_Logger),
// @Group: BATT // @Group: BATT
// @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp

2
APMrover2/Parameters.h
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@ -207,7 +207,7 @@ public:
k_param_button, k_param_button,
k_param_osd, k_param_osd,
k_param_DataFlash = 253, // Logging Group k_param_logger = 253, // Logging Group
// 254,255: reserved // 254,255: reserved
}; };

2
APMrover2/Rover.cpp
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@ -28,7 +28,7 @@ Rover::Rover(void) :
channel_throttle(nullptr), channel_throttle(nullptr),
channel_aux(nullptr), channel_aux(nullptr),
channel_lateral(nullptr), channel_lateral(nullptr),
DataFlash{g.log_bitmask}, logger{g.log_bitmask},
modes(&g.mode1), modes(&g.mode1),
nav_controller(&L1_controller), nav_controller(&L1_controller),
control_mode(&mode_initializing), control_mode(&mode_initializing),

4
APMrover2/Rover.h
View File

@ -66,7 +66,7 @@
#include <AP_WheelEncoder/AP_WheelRateControl.h> #include <AP_WheelEncoder/AP_WheelRateControl.h>
#include <APM_Control/AR_AttitudeControl.h> #include <APM_Control/AR_AttitudeControl.h>
#include <AP_SmartRTL/AP_SmartRTL.h> #include <AP_SmartRTL/AP_SmartRTL.h>
#include <DataFlash/DataFlash.h> #include <AP_Logger/AP_Logger.h>
#include <Filter/AverageFilter.h> // Mode Filter from Filter library #include <Filter/AverageFilter.h> // Mode Filter from Filter library
#include <Filter/Butter.h> // Filter library - butterworth filter #include <Filter/Butter.h> // Filter library - butterworth filter
#include <Filter/Filter.h> // Filter library #include <Filter/Filter.h> // Filter library
@ -163,7 +163,7 @@ private:
RC_Channel *channel_aux; RC_Channel *channel_aux;
RC_Channel *channel_lateral; RC_Channel *channel_lateral;
DataFlash_Class DataFlash; AP_Logger logger;
// sensor drivers // sensor drivers
AP_GPS gps; AP_GPS gps;

2
APMrover2/commands.cpp
View File

@ -56,7 +56,7 @@ bool Rover::set_home(const Location& loc, bool lock)
if (should_log(MASK_LOG_CMD)) { if (should_log(MASK_LOG_CMD)) {
AP_Mission::Mission_Command temp_cmd; AP_Mission::Mission_Command temp_cmd;
if (mode_auto.mission.read_cmd_from_storage(0, temp_cmd)) { if (mode_auto.mission.read_cmd_from_storage(0, temp_cmd)) {
DataFlash.Log_Write_Mission_Cmd(mode_auto.mission, temp_cmd); logger.Log_Write_Mission_Cmd(mode_auto.mission, temp_cmd);
} }
} }
} }

2
APMrover2/commands_logic.cpp
View File

@ -17,7 +17,7 @@ bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
{ {
// log when new commands start // log when new commands start
if (rover.should_log(MASK_LOG_CMD)) { if (rover.should_log(MASK_LOG_CMD)) {
rover.DataFlash.Log_Write_Mission_Cmd(mission, cmd); rover.logger.Log_Write_Mission_Cmd(mission, cmd);
} }
gcs().send_text(MAV_SEVERITY_INFO, "Executing %s(ID=%i)", gcs().send_text(MAV_SEVERITY_INFO, "Executing %s(ID=%i)",

2
APMrover2/cruise_learn.cpp
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@ -63,7 +63,7 @@ void Rover::cruise_learn_complete()
// logging for cruise learn // logging for cruise learn
void Rover::log_write_cruise_learn() void Rover::log_write_cruise_learn()
{ {
DataFlash_Class::instance()->Log_Write("CRSE", "TimeUS,State,Speed,Throttle", "Qbff", AP_Logger::instance()->Log_Write("CRSE", "TimeUS,State,Speed,Throttle", "Qbff",
AP_HAL::micros64, AP_HAL::micros64,
cruise_learn.learn_start_ms > 0, cruise_learn.learn_start_ms > 0,
cruise_learn.speed_filt.get(), cruise_learn.speed_filt.get(),

8
APMrover2/sensors.cpp
View File

@ -58,7 +58,7 @@ void Rover::update_visual_odom()
visual_odom_last_update_ms, visual_odom_last_update_ms,
g2.visual_odom.get_pos_offset()); g2.visual_odom.get_pos_offset());
// log sensor data // log sensor data
DataFlash.Log_Write_VisualOdom(time_delta_sec, logger.Log_Write_VisualOdom(time_delta_sec,
g2.visual_odom.get_angle_delta(), g2.visual_odom.get_angle_delta(),
g2.visual_odom.get_position_delta(), g2.visual_odom.get_position_delta(),
g2.visual_odom.get_confidence()); g2.visual_odom.get_confidence());
@ -268,7 +268,7 @@ void Rover::update_sensor_status_flags(void)
if (g2.visual_odom.enabled()) { if (g2.visual_odom.enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION; control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
} }
if (rover.DataFlash.logging_present()) { // primary logging only (usually File) if (rover.logger.logging_present()) { // primary logging only (usually File)
control_sensors_present |= MAV_SYS_STATUS_LOGGING; control_sensors_present |= MAV_SYS_STATUS_LOGGING;
} }
if (rover.g2.proximity.get_status() > AP_Proximity::Proximity_NotConnected) { if (rover.g2.proximity.get_status() > AP_Proximity::Proximity_NotConnected) {
@ -292,7 +292,7 @@ void Rover::update_sensor_status_flags(void)
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control
} }
if (rover.DataFlash.logging_enabled()) { if (rover.logger.logging_enabled()) {
control_sensors_enabled |= MAV_SYS_STATUS_LOGGING; control_sensors_enabled |= MAV_SYS_STATUS_LOGGING;
} }
@ -339,7 +339,7 @@ void Rover::update_sensor_status_flags(void)
if (rover.g2.proximity.get_status() == AP_Proximity::Proximity_NoData) { if (rover.g2.proximity.get_status() == AP_Proximity::Proximity_NoData) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_LASER_POSITION; control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_LASER_POSITION;
} }
if (rover.DataFlash.logging_failed()) { if (rover.logger.logging_failed()) {
control_sensors_health &= ~MAV_SYS_STATUS_LOGGING; control_sensors_health &= ~MAV_SYS_STATUS_LOGGING;
} }

8
APMrover2/system.cpp
View File

@ -183,9 +183,9 @@ void Rover::startup_ground(void)
// initialise mission library // initialise mission library
mode_auto.mission.init(); mode_auto.mission.init();
// initialise DataFlash library // initialise AP_Logger library
#if LOGGING_ENABLED == ENABLED #if LOGGING_ENABLED == ENABLED
DataFlash.setVehicle_Startup_Log_Writer( logger.setVehicle_Startup_Log_Writer(
FUNCTOR_BIND(&rover, &Rover::Log_Write_Vehicle_Startup_Messages, void) FUNCTOR_BIND(&rover, &Rover::Log_Write_Vehicle_Startup_Messages, void)
); );
#endif #endif
@ -262,7 +262,7 @@ bool Rover::set_mode(Mode &new_mode, mode_reason_t reason)
old_mode.exit(); old_mode.exit();
control_mode_reason = reason; control_mode_reason = reason;
DataFlash.Log_Write_Mode(control_mode->mode_number(), control_mode_reason); logger.Log_Write_Mode(control_mode->mode_number(), control_mode_reason);
notify_mode(control_mode); notify_mode(control_mode);
return true; return true;
@ -308,7 +308,7 @@ uint8_t Rover::check_digital_pin(uint8_t pin)
*/ */
bool Rover::should_log(uint32_t mask) bool Rover::should_log(uint32_t mask)
{ {
return DataFlash.should_log(mask); return logger.should_log(mask);
} }
/* /*

10
AntennaTracker/AntennaTracker.cpp
View File

@ -44,7 +44,7 @@ const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
SCHED_TASK_CLASS(AP_Baro, &tracker.barometer, accumulate, 50, 900), SCHED_TASK_CLASS(AP_Baro, &tracker.barometer, accumulate, 50, 900),
SCHED_TASK(ten_hz_logging_loop, 10, 300), SCHED_TASK(ten_hz_logging_loop, 10, 300),
#if LOGGING_ENABLED == ENABLED #if LOGGING_ENABLED == ENABLED
SCHED_TASK_CLASS(DataFlash_Class, &tracker.DataFlash, periodic_tasks, 50, 300), SCHED_TASK_CLASS(AP_Logger, &tracker.logger, periodic_tasks, 50, 300),
#endif #endif
SCHED_TASK_CLASS(AP_InertialSensor, &tracker.ins, periodic, 50, 50), SCHED_TASK_CLASS(AP_InertialSensor, &tracker.ins, periodic, 50, 50),
SCHED_TASK_CLASS(AP_Notify, &tracker.notify, update, 50, 100), SCHED_TASK_CLASS(AP_Notify, &tracker.notify, update, 50, 100),
@ -123,23 +123,23 @@ void Tracker::one_second_loop()
void Tracker::ten_hz_logging_loop() void Tracker::ten_hz_logging_loop()
{ {
if (should_log(MASK_LOG_IMU)) { if (should_log(MASK_LOG_IMU)) {
DataFlash.Log_Write_IMU(); logger.Log_Write_IMU();
} }
if (should_log(MASK_LOG_ATTITUDE)) { if (should_log(MASK_LOG_ATTITUDE)) {
Log_Write_Attitude(); Log_Write_Attitude();
} }
if (should_log(MASK_LOG_RCIN)) { if (should_log(MASK_LOG_RCIN)) {
DataFlash.Log_Write_RCIN(); logger.Log_Write_RCIN();
} }
if (should_log(MASK_LOG_RCOUT)) { if (should_log(MASK_LOG_RCOUT)) {
DataFlash.Log_Write_RCOUT(); logger.Log_Write_RCOUT();
} }
} }
const AP_HAL::HAL& hal = AP_HAL::get_HAL(); const AP_HAL::HAL& hal = AP_HAL::get_HAL();
Tracker::Tracker(void) Tracker::Tracker(void)
: DataFlash(g.log_bitmask) : logger(g.log_bitmask)
{ {
memset(&vehicle, 0, sizeof(vehicle)); memset(&vehicle, 0, sizeof(vehicle));
} }

4
AntennaTracker/GCS_Mavlink.cpp
View File

@ -580,7 +580,7 @@ void Tracker::mavlink_delay_cb()
return; return;
} }
DataFlash.EnableWrites(false); logger.EnableWrites(false);
uint32_t tnow = AP_HAL::millis(); uint32_t tnow = AP_HAL::millis();
if (tnow - last_1hz > 1000) { if (tnow - last_1hz > 1000) {
@ -598,7 +598,7 @@ void Tracker::mavlink_delay_cb()
last_5s = tnow; last_5s = tnow;
gcs().send_text(MAV_SEVERITY_INFO, "Initialising APM"); gcs().send_text(MAV_SEVERITY_INFO, "Initialising APM");
} }
DataFlash.EnableWrites(true); logger.EnableWrites(true);
} }
/* /*

22
AntennaTracker/Log.cpp
View File

@ -2,7 +2,7 @@
#if LOGGING_ENABLED == ENABLED #if LOGGING_ENABLED == ENABLED
// Code to Write and Read packets from DataFlash log memory // Code to Write and Read packets from AP_Logger log memory
// Write an attitude packet // Write an attitude packet
void Tracker::Log_Write_Attitude() void Tracker::Log_Write_Attitude()
@ -10,13 +10,13 @@ void Tracker::Log_Write_Attitude()
Vector3f targets; Vector3f targets;
targets.y = nav_status.pitch * 100.0f; targets.y = nav_status.pitch * 100.0f;
targets.z = wrap_360_cd(nav_status.bearing * 100.0f); targets.z = wrap_360_cd(nav_status.bearing * 100.0f);
DataFlash.Log_Write_Attitude(ahrs, targets); logger.Log_Write_Attitude(ahrs, targets);
DataFlash.Log_Write_EKF(ahrs); logger.Log_Write_EKF(ahrs);
DataFlash.Log_Write_AHRS2(ahrs); logger.Log_Write_AHRS2(ahrs);
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
sitl.Log_Write_SIMSTATE(); sitl.Log_Write_SIMSTATE();
#endif #endif
DataFlash.Log_Write_POS(ahrs); logger.Log_Write_POS(ahrs);
} }
struct PACKED log_Vehicle_Baro { struct PACKED log_Vehicle_Baro {
@ -35,7 +35,7 @@ void Tracker::Log_Write_Vehicle_Baro(float pressure, float altitude)
press : pressure, press : pressure,
alt_diff : altitude alt_diff : altitude
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); logger.WriteBlock(&pkt, sizeof(pkt));
} }
struct PACKED log_Vehicle_Pos { struct PACKED log_Vehicle_Pos {
@ -62,11 +62,11 @@ void Tracker::Log_Write_Vehicle_Pos(int32_t lat, int32_t lng, int32_t alt, const
vehicle_vel_y : vel.y, vehicle_vel_y : vel.y,
vehicle_vel_z : vel.z, vehicle_vel_z : vel.z,
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); logger.WriteBlock(&pkt, sizeof(pkt));
} }
// type and unit information can be found in // type and unit information can be found in
// libraries/DataFlash/Logstructure.h; search for "log_Units" for // libraries/AP_Logger/Logstructure.h; search for "log_Units" for
// units and "Format characters" for field type information // units and "Format characters" for field type information
const struct LogStructure Tracker::log_structure[] = { const struct LogStructure Tracker::log_structure[] = {
LOG_COMMON_STRUCTURES, LOG_COMMON_STRUCTURES,
@ -78,13 +78,13 @@ const struct LogStructure Tracker::log_structure[] = {
void Tracker::Log_Write_Vehicle_Startup_Messages() void Tracker::Log_Write_Vehicle_Startup_Messages()
{ {
DataFlash.Log_Write_Mode(control_mode, MODE_REASON_INITIALISED); logger.Log_Write_Mode(control_mode, MODE_REASON_INITIALISED);
gps.Write_DataFlash_Log_Startup_messages(); gps.Write_AP_Logger_Log_Startup_messages();
} }
void Tracker::log_init(void) void Tracker::log_init(void)
{ {
DataFlash.Init(log_structure, ARRAY_SIZE(log_structure)); logger.Init(log_structure, ARRAY_SIZE(log_structure));
} }
#else // LOGGING_ENABLED #else // LOGGING_ENABLED

4
AntennaTracker/Tracker.h
View File

@ -41,7 +41,7 @@
#include <AP_SerialManager/AP_SerialManager.h> // Serial manager library #include <AP_SerialManager/AP_SerialManager.h> // Serial manager library
#include <AP_Declination/AP_Declination.h> // ArduPilot Mega Declination Helper Library #include <AP_Declination/AP_Declination.h> // ArduPilot Mega Declination Helper Library
#include <DataFlash/DataFlash.h> #include <AP_Logger/AP_Logger.h>
#include <AC_PID/AC_PID.h> #include <AC_PID/AC_PID.h>
#include <AP_Scheduler/AP_Scheduler.h> // main loop scheduler #include <AP_Scheduler/AP_Scheduler.h> // main loop scheduler
#include <AP_NavEKF2/AP_NavEKF2.h> #include <AP_NavEKF2/AP_NavEKF2.h>
@ -98,7 +98,7 @@ private:
uint32_t start_time_ms = 0; uint32_t start_time_ms = 0;
DataFlash_Class DataFlash; AP_Logger logger;
AP_GPS gps; AP_GPS gps;

8
AntennaTracker/sensors.cpp
View File

@ -17,7 +17,7 @@ void Tracker::update_compass(void)
if (g.compass_enabled && compass.read()) { if (g.compass_enabled && compass.read()) {
ahrs.set_compass(&compass); ahrs.set_compass(&compass);
if (should_log(MASK_LOG_COMPASS)) { if (should_log(MASK_LOG_COMPASS)) {
DataFlash.Log_Write_Compass(); logger.Log_Write_Compass();
} }
} }
} }
@ -103,7 +103,7 @@ void Tracker::update_sensor_status_flags()
if (gps.status() > AP_GPS::NO_GPS) { if (gps.status() > AP_GPS::NO_GPS) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS; control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
} }
if (DataFlash.logging_present()) { // primary logging only (usually File) if (logger.logging_present()) { // primary logging only (usually File)
control_sensors_present |= MAV_SYS_STATUS_LOGGING; control_sensors_present |= MAV_SYS_STATUS_LOGGING;
} }
@ -112,7 +112,7 @@ void Tracker::update_sensor_status_flags()
~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS & ~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS &
~MAV_SYS_STATUS_SENSOR_BATTERY); ~MAV_SYS_STATUS_SENSOR_BATTERY);
if (DataFlash.logging_enabled()) { if (logger.logging_enabled()) {
control_sensors_enabled |= MAV_SYS_STATUS_LOGGING; control_sensors_enabled |= MAV_SYS_STATUS_LOGGING;
} }
@ -143,7 +143,7 @@ void Tracker::update_sensor_status_flags()
// AHRS subsystem is unhealthy // AHRS subsystem is unhealthy
control_sensors_health &= ~MAV_SYS_STATUS_AHRS; control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
} }
if (DataFlash.logging_failed()) { if (logger.logging_failed()) {
control_sensors_health &= ~MAV_SYS_STATUS_LOGGING; control_sensors_health &= ~MAV_SYS_STATUS_LOGGING;
} }
if (!battery.healthy() || battery.has_failsafed()) { if (!battery.healthy() || battery.has_failsafed()) {

12
AntennaTracker/system.cpp
View File

@ -76,8 +76,8 @@ void Tracker::init_tracker()
barometer.calibrate(); barometer.calibrate();
// initialise DataFlash library // initialise AP_Logger library
DataFlash.setVehicle_Startup_Log_Writer(FUNCTOR_BIND(&tracker, &Tracker::Log_Write_Vehicle_Startup_Messages, void)); logger.setVehicle_Startup_Log_Writer(FUNCTOR_BIND(&tracker, &Tracker::Log_Write_Vehicle_Startup_Messages, void));
// set serial ports non-blocking // set serial ports non-blocking
serial_manager.set_blocking_writes_all(false); serial_manager.set_blocking_writes_all(false);
@ -163,13 +163,13 @@ void Tracker::set_home(struct Location temp)
void Tracker::arm_servos() void Tracker::arm_servos()
{ {
hal.util->set_soft_armed(true); hal.util->set_soft_armed(true);
DataFlash.set_vehicle_armed(true); logger.set_vehicle_armed(true);
} }
void Tracker::disarm_servos() void Tracker::disarm_servos()
{ {
hal.util->set_soft_armed(false); hal.util->set_soft_armed(false);
DataFlash.set_vehicle_armed(false); logger.set_vehicle_armed(false);
} }
/* /*
@ -207,7 +207,7 @@ void Tracker::set_mode(enum ControlMode mode, mode_reason_t reason)
} }
// log mode change // log mode change
DataFlash.Log_Write_Mode(control_mode, reason); logger.Log_Write_Mode(control_mode, reason);
} }
/* /*
@ -215,7 +215,7 @@ void Tracker::set_mode(enum ControlMode mode, mode_reason_t reason)
*/ */
bool Tracker::should_log(uint32_t mask) bool Tracker::should_log(uint32_t mask)
{ {
if (!DataFlash.should_log(mask)) { if (!logger.should_log(mask)) {
return false; return false;
} }
return true; return true;

18
ArduCopter/ArduCopter.cpp
View File

@ -147,7 +147,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
#if LOGGING_ENABLED == ENABLED #if LOGGING_ENABLED == ENABLED
SCHED_TASK(ten_hz_logging_loop, 10, 350), SCHED_TASK(ten_hz_logging_loop, 10, 350),
SCHED_TASK(twentyfive_hz_logging, 25, 110), SCHED_TASK(twentyfive_hz_logging, 25, 110),
SCHED_TASK_CLASS(DataFlash_Class, &copter.DataFlash, periodic_tasks, 400, 300), SCHED_TASK_CLASS(AP_Logger, &copter.logger, periodic_tasks, 400, 300),
#endif #endif
SCHED_TASK_CLASS(AP_InertialSensor, &copter.ins, periodic, 400, 50), SCHED_TASK_CLASS(AP_InertialSensor, &copter.ins, periodic, 400, 50),
SCHED_TASK_CLASS(AP_Scheduler, &copter.scheduler, update_logging, 0.1, 75), SCHED_TASK_CLASS(AP_Scheduler, &copter.scheduler, update_logging, 0.1, 75),
@ -312,7 +312,7 @@ void Copter::update_batt_compass(void)
compass.read(); compass.read();
// log compass information // log compass information
if (should_log(MASK_LOG_COMPASS) && !ahrs.have_ekf_logging()) { if (should_log(MASK_LOG_COMPASS) && !ahrs.have_ekf_logging()) {
DataFlash.Log_Write_Compass(); logger.Log_Write_Compass();
} }
} }
} }
@ -339,27 +339,27 @@ void Copter::ten_hz_logging_loop()
Log_Write_MotBatt(); Log_Write_MotBatt();
} }
if (should_log(MASK_LOG_RCIN)) { if (should_log(MASK_LOG_RCIN)) {
DataFlash.Log_Write_RCIN(); logger.Log_Write_RCIN();
if (rssi.enabled()) { if (rssi.enabled()) {
DataFlash.Log_Write_RSSI(rssi); logger.Log_Write_RSSI(rssi);
} }
} }
if (should_log(MASK_LOG_RCOUT)) { if (should_log(MASK_LOG_RCOUT)) {
DataFlash.Log_Write_RCOUT(); logger.Log_Write_RCOUT();
} }
if (should_log(MASK_LOG_NTUN) && (flightmode->requires_GPS() || landing_with_GPS())) { if (should_log(MASK_LOG_NTUN) && (flightmode->requires_GPS() || landing_with_GPS())) {
pos_control->write_log(); pos_control->write_log();
} }
if (should_log(MASK_LOG_IMU) || should_log(MASK_LOG_IMU_FAST) || should_log(MASK_LOG_IMU_RAW)) { if (should_log(MASK_LOG_IMU) || should_log(MASK_LOG_IMU_FAST) || should_log(MASK_LOG_IMU_RAW)) {
DataFlash.Log_Write_Vibration(); logger.Log_Write_Vibration();
} }
if (should_log(MASK_LOG_CTUN)) { if (should_log(MASK_LOG_CTUN)) {
attitude_control->control_monitor_log(); attitude_control->control_monitor_log();
#if PROXIMITY_ENABLED == ENABLED #if PROXIMITY_ENABLED == ENABLED
DataFlash.Log_Write_Proximity(g2.proximity); // Write proximity sensor distances logger.Log_Write_Proximity(g2.proximity); // Write proximity sensor distances
#endif #endif
#if BEACON_ENABLED == ENABLED #if BEACON_ENABLED == ENABLED
DataFlash.Log_Write_Beacon(g2.beacon); logger.Log_Write_Beacon(g2.beacon);
#endif #endif
} }
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
@ -382,7 +382,7 @@ void Copter::twentyfive_hz_logging()
// log IMU data if we're not already logging at the higher rate // log IMU data if we're not already logging at the higher rate
if (should_log(MASK_LOG_IMU) && !should_log(MASK_LOG_IMU_RAW)) { if (should_log(MASK_LOG_IMU) && !should_log(MASK_LOG_IMU_RAW)) {
DataFlash.Log_Write_IMU(); logger.Log_Write_IMU();
} }
#endif #endif

2
ArduCopter/Copter.cpp
View File

@ -24,7 +24,7 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
constructor for main Copter class constructor for main Copter class
*/ */
Copter::Copter(void) Copter::Copter(void)
: DataFlash(g.log_bitmask), : logger(g.log_bitmask),
flight_modes(&g.flight_mode1), flight_modes(&g.flight_mode1),
control_mode(STABILIZE), control_mode(STABILIZE),
scaleLongDown(1), scaleLongDown(1),

4
ArduCopter/Copter.h
View File

@ -37,7 +37,7 @@
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <AP_SerialManager/AP_SerialManager.h> // Serial manager library #include <AP_SerialManager/AP_SerialManager.h> // Serial manager library
#include <AP_GPS/AP_GPS.h> // ArduPilot GPS library #include <AP_GPS/AP_GPS.h> // ArduPilot GPS library
#include <DataFlash/DataFlash.h> // ArduPilot Mega Flash Memory Library #include <AP_Logger/AP_Logger.h> // ArduPilot Mega Flash Memory Library
#include <AP_Baro/AP_Baro.h> #include <AP_Baro/AP_Baro.h>
#include <AP_Compass/AP_Compass.h> // ArduPilot Mega Magnetometer Library #include <AP_Compass/AP_Compass.h> // ArduPilot Mega Magnetometer Library
#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library #include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
@ -233,7 +233,7 @@ private:
RC_Channel *channel_yaw; RC_Channel *channel_yaw;
// Dataflash // Dataflash
DataFlash_Class DataFlash; AP_Logger logger;
AP_GPS gps; AP_GPS gps;

8
ArduCopter/GCS_Mavlink.cpp
View File

@ -228,7 +228,7 @@ void GCS_MAVLINK_Copter::send_pid_tuning()
default: default:
continue; continue;
} }
const DataFlash_Class::PID_Info &pid_info = pid.get_pid_info(); const AP_Logger::PID_Info &pid_info = pid.get_pid_info();
mavlink_msg_pid_tuning_send(chan, mavlink_msg_pid_tuning_send(chan,
axes[i], axes[i],
pid_info.desired*0.01f, pid_info.desired*0.01f,
@ -1360,7 +1360,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_RADIO: case MAVLINK_MSG_ID_RADIO:
case MAVLINK_MSG_ID_RADIO_STATUS: // MAV ID: 109 case MAVLINK_MSG_ID_RADIO_STATUS: // MAV ID: 109
{ {
handle_radio_status(msg, copter.DataFlash, copter.should_log(MASK_LOG_PM)); handle_radio_status(msg, copter.logger, copter.should_log(MASK_LOG_PM));
break; break;
} }
@ -1438,7 +1438,7 @@ void Copter::mavlink_delay_cb()
static uint32_t last_1hz, last_50hz, last_5s; static uint32_t last_1hz, last_50hz, last_5s;
if (!gcs().chan(0).initialised) return; if (!gcs().chan(0).initialised) return;
DataFlash.EnableWrites(false); logger.EnableWrites(false);
uint32_t tnow = millis(); uint32_t tnow = millis();
if (tnow - last_1hz > 1000) { if (tnow - last_1hz > 1000) {
@ -1457,7 +1457,7 @@ void Copter::mavlink_delay_cb()
gcs().send_text(MAV_SEVERITY_INFO, "Initialising APM"); gcs().send_text(MAV_SEVERITY_INFO, "Initialising APM");
} }
DataFlash.EnableWrites(true); logger.EnableWrites(true);
} }
AP_AdvancedFailsafe *GCS_MAVLINK_Copter::get_advanced_failsafe() const AP_AdvancedFailsafe *GCS_MAVLINK_Copter::get_advanced_failsafe() const

64
ArduCopter/Log.cpp
View File

@ -2,7 +2,7 @@
#if LOGGING_ENABLED == ENABLED #if LOGGING_ENABLED == ENABLED
// Code to Write and Read packets from DataFlash log memory // Code to Write and Read packets from AP_Logger log memory
// Code to interact with the user to dump or erase logs // Code to interact with the user to dump or erase logs
struct PACKED log_Control_Tuning { struct PACKED log_Control_Tuning {
@ -29,7 +29,7 @@ void Copter::Log_Write_Control_Tuning()
float terr_alt = 0.0f; float terr_alt = 0.0f;
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN #if AP_TERRAIN_AVAILABLE && AC_TERRAIN
if (!terrain.height_above_terrain(terr_alt, true)) { if (!terrain.height_above_terrain(terr_alt, true)) {
terr_alt = DataFlash.quiet_nan(); terr_alt = logger.quiet_nan();
} }
#endif #endif
float des_alt_m = 0.0f; float des_alt_m = 0.0f;
@ -43,7 +43,7 @@ void Copter::Log_Write_Control_Tuning()
if (target_rangefinder_alt_used) { if (target_rangefinder_alt_used) {
_target_rangefinder_alt = target_rangefinder_alt * 0.01f; // cm->m _target_rangefinder_alt = target_rangefinder_alt * 0.01f; // cm->m
} else { } else {
_target_rangefinder_alt = DataFlash.quiet_nan(); _target_rangefinder_alt = logger.quiet_nan();
} }
struct log_Control_Tuning pkt = { struct log_Control_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_CONTROL_TUNING_MSG), LOG_PACKET_HEADER_INIT(LOG_CONTROL_TUNING_MSG),
@ -61,7 +61,7 @@ void Copter::Log_Write_Control_Tuning()
target_climb_rate : target_climb_rate_cms, target_climb_rate : target_climb_rate_cms,
climb_rate : climb_rate climb_rate : climb_rate
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); logger.WriteBlock(&pkt, sizeof(pkt));
} }
// Write an attitude packet // Write an attitude packet
@ -69,25 +69,25 @@ void Copter::Log_Write_Attitude()
{ {
Vector3f targets = attitude_control->get_att_target_euler_cd(); Vector3f targets = attitude_control->get_att_target_euler_cd();
targets.z = wrap_360_cd(targets.z); targets.z = wrap_360_cd(targets.z);
DataFlash.Log_Write_Attitude(ahrs, targets); logger.Log_Write_Attitude(ahrs, targets);
DataFlash.Log_Write_Rate(ahrs_view, *motors, *attitude_control, *pos_control); logger.Log_Write_Rate(ahrs_view, *motors, *attitude_control, *pos_control);
if (should_log(MASK_LOG_PID)) { if (should_log(MASK_LOG_PID)) {
DataFlash.Log_Write_PID(LOG_PIDR_MSG, attitude_control->get_rate_roll_pid().get_pid_info()); logger.Log_Write_PID(LOG_PIDR_MSG, attitude_control->get_rate_roll_pid().get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDP_MSG, attitude_control->get_rate_pitch_pid().get_pid_info()); logger.Log_Write_PID(LOG_PIDP_MSG, attitude_control->get_rate_pitch_pid().get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDY_MSG, attitude_control->get_rate_yaw_pid().get_pid_info()); logger.Log_Write_PID(LOG_PIDY_MSG, attitude_control->get_rate_yaw_pid().get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDA_MSG, pos_control->get_accel_z_pid().get_pid_info() ); logger.Log_Write_PID(LOG_PIDA_MSG, pos_control->get_accel_z_pid().get_pid_info() );
} }
} }
// Write an EKF and POS packet // Write an EKF and POS packet
void Copter::Log_Write_EKF_POS() void Copter::Log_Write_EKF_POS()
{ {
DataFlash.Log_Write_EKF(ahrs); logger.Log_Write_EKF(ahrs);
DataFlash.Log_Write_AHRS2(ahrs); logger.Log_Write_AHRS2(ahrs);
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
sitl.Log_Write_SIMSTATE(); sitl.Log_Write_SIMSTATE();
#endif #endif
DataFlash.Log_Write_POS(ahrs); logger.Log_Write_POS(ahrs);
} }
struct PACKED log_MotBatt { struct PACKED log_MotBatt {
@ -111,7 +111,7 @@ void Copter::Log_Write_MotBatt()
bat_res : (float)(battery.get_resistance()), bat_res : (float)(battery.get_resistance()),
th_limit : (float)(motors->get_throttle_limit()) th_limit : (float)(motors->get_throttle_limit())
}; };
DataFlash.WriteBlock(&pkt_mot, sizeof(pkt_mot)); logger.WriteBlock(&pkt_mot, sizeof(pkt_mot));
#endif #endif
} }
@ -130,7 +130,7 @@ void Copter::Log_Write_Event(uint8_t id)
time_us : AP_HAL::micros64(), time_us : AP_HAL::micros64(),
id : id id : id
}; };
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt)); logger.WriteCriticalBlock(&pkt, sizeof(pkt));
} }
} }
@ -152,7 +152,7 @@ void Copter::Log_Write_Data(uint8_t id, int16_t value)
id : id, id : id,
data_value : value data_value : value
}; };
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt)); logger.WriteCriticalBlock(&pkt, sizeof(pkt));
} }
} }
@ -174,7 +174,7 @@ void Copter::Log_Write_Data(uint8_t id, uint16_t value)
id : id, id : id,
data_value : value data_value : value
}; };
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt)); logger.WriteCriticalBlock(&pkt, sizeof(pkt));
} }
} }
@ -195,7 +195,7 @@ void Copter::Log_Write_Data(uint8_t id, int32_t value)
id : id, id : id,
data_value : value data_value : value
}; };
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt)); logger.WriteCriticalBlock(&pkt, sizeof(pkt));
} }
} }
@ -216,7 +216,7 @@ void Copter::Log_Write_Data(uint8_t id, uint32_t value)
id : id, id : id,
data_value : value data_value : value
}; };
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt)); logger.WriteCriticalBlock(&pkt, sizeof(pkt));
} }
} }
@ -238,7 +238,7 @@ void Copter::Log_Write_Data(uint8_t id, float value)
id : id, id : id,
data_value : value data_value : value
}; };
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt)); logger.WriteCriticalBlock(&pkt, sizeof(pkt));
} }
} }
@ -258,7 +258,7 @@ void Copter::Log_Write_Error(uint8_t sub_system, uint8_t error_code)
sub_system : sub_system, sub_system : sub_system,
error_code : error_code, error_code : error_code,
}; };
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt)); logger.WriteCriticalBlock(&pkt, sizeof(pkt));
} }
struct PACKED log_ParameterTuning { struct PACKED log_ParameterTuning {
@ -283,7 +283,7 @@ void Copter::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t
tuning_high : tune_high tuning_high : tune_high
}; };
DataFlash.WriteBlock(&pkt_tune, sizeof(pkt_tune)); logger.WriteBlock(&pkt_tune, sizeof(pkt_tune));
} }
// logs when baro or compass becomes unhealthy // logs when baro or compass becomes unhealthy
@ -325,7 +325,7 @@ void Copter::Log_Write_Heli()
desired_rotor_speed : motors->get_desired_rotor_speed(), desired_rotor_speed : motors->get_desired_rotor_speed(),
main_rotor_speed : motors->get_main_rotor_speed(), main_rotor_speed : motors->get_main_rotor_speed(),
}; };
DataFlash.WriteBlock(&pkt_heli, sizeof(pkt_heli)); logger.WriteBlock(&pkt_heli, sizeof(pkt_heli));
} }
#endif #endif
@ -379,7 +379,7 @@ void Copter::Log_Write_Precland()
ekf_outcount : precland.ekf_outlier_count(), ekf_outcount : precland.ekf_outlier_count(),
estimator : precland.estimator_type() estimator : precland.estimator_type()
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); logger.WriteBlock(&pkt, sizeof(pkt));
#endif // PRECISION_LANDING == ENABLED #endif // PRECISION_LANDING == ENABLED
} }
@ -410,11 +410,11 @@ void Copter::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_tar
vel_target_y : vel_target.y, vel_target_y : vel_target.y,
vel_target_z : vel_target.z vel_target_z : vel_target.z
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); logger.WriteBlock(&pkt, sizeof(pkt));
} }
// type and unit information can be found in // type and unit information can be found in
// libraries/DataFlash/Logstructure.h; search for "log_Units" for // libraries/AP_Logger/Logstructure.h; search for "log_Units" for
// units and "Format characters" for field type information // units and "Format characters" for field type information
const struct LogStructure Copter::log_structure[] = { const struct LogStructure Copter::log_structure[] = {
LOG_COMMON_STRUCTURES, LOG_COMMON_STRUCTURES,
@ -452,20 +452,20 @@ const struct LogStructure Copter::log_structure[] = {
void Copter::Log_Write_Vehicle_Startup_Messages() void Copter::Log_Write_Vehicle_Startup_Messages()
{ {
// only 200(?) bytes are guaranteed by DataFlash // only 200(?) bytes are guaranteed by AP_Logger
DataFlash.Log_Write_MessageF("Frame: %s", get_frame_string()); logger.Log_Write_MessageF("Frame: %s", get_frame_string());
DataFlash.Log_Write_Mode(control_mode, control_mode_reason); logger.Log_Write_Mode(control_mode, control_mode_reason);
#if AC_RALLY #if AC_RALLY
DataFlash.Log_Write_Rally(rally); logger.Log_Write_Rally(rally);
#endif #endif
ahrs.Log_Write_Home_And_Origin(); ahrs.Log_Write_Home_And_Origin();
gps.Write_DataFlash_Log_Startup_messages(); gps.Write_AP_Logger_Log_Startup_messages();
} }
void Copter::log_init(void) void Copter::log_init(void)
{ {
DataFlash.Init(log_structure, ARRAY_SIZE(log_structure)); logger.Init(log_structure, ARRAY_SIZE(log_structure));
} }
#else // LOGGING_ENABLED #else // LOGGING_ENABLED

4
ArduCopter/Parameters.cpp
View File

@ -577,8 +577,8 @@ const AP_Param::Info Copter::var_info[] = {
#endif #endif
// @Group: LOG // @Group: LOG
// @Path: ../libraries/DataFlash/DataFlash.cpp // @Path: ../libraries/AP_Logger/AP_Logger.cpp
GOBJECT(DataFlash, "LOG", DataFlash_Class), GOBJECT(logger, "LOG", AP_Logger),
// @Group: BATT // @Group: BATT
// @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp

2
ArduCopter/Parameters.h
View File

@ -358,7 +358,7 @@ public:
k_param_rpm_sensor, k_param_rpm_sensor,
k_param_autotune_min_d, // remove k_param_autotune_min_d, // remove
k_param_arming, // 252 - AP_Arming k_param_arming, // 252 - AP_Arming
k_param_DataFlash = 253, // 253 - Logging Group k_param_logger = 253, // 253 - Logging Group
// 254,255: reserved // 254,255: reserved

2
ArduCopter/commands.cpp
View File

@ -89,7 +89,7 @@ bool Copter::set_home(const Location& loc, bool lock)
if (should_log(MASK_LOG_CMD)) { if (should_log(MASK_LOG_CMD)) {
AP_Mission::Mission_Command temp_cmd; AP_Mission::Mission_Command temp_cmd;
if (mode_auto.mission.read_cmd_from_storage(0, temp_cmd)) { if (mode_auto.mission.read_cmd_from_storage(0, temp_cmd)) {
DataFlash.Log_Write_Mission_Cmd(mode_auto.mission, temp_cmd); logger.Log_Write_Mission_Cmd(mode_auto.mission, temp_cmd);
} }
} }
#endif #endif

2
ArduCopter/crash_check.cpp
View File

@ -50,7 +50,7 @@ void Copter::crash_check()
// log an error in the dataflash // log an error in the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_CRASH_CHECK, ERROR_CODE_CRASH_CHECK_CRASH); Log_Write_Error(ERROR_SUBSYSTEM_CRASH_CHECK, ERROR_CODE_CRASH_CHECK_CRASH);
// keep logging even if disarmed: // keep logging even if disarmed:
DataFlash_Class::instance()->set_force_log_disarmed(true); AP_Logger::instance()->set_force_log_disarmed(true);
// send message to gcs // send message to gcs
gcs().send_text(MAV_SEVERITY_EMERGENCY,"Crash: Disarming"); gcs().send_text(MAV_SEVERITY_EMERGENCY,"Crash: Disarming");
// disarm motors // disarm motors

2
ArduCopter/mode.cpp
View File

@ -213,7 +213,7 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
flightmode = new_flightmode; flightmode = new_flightmode;
control_mode = mode; control_mode = mode;
control_mode_reason = reason; control_mode_reason = reason;
DataFlash.Log_Write_Mode(control_mode, reason); logger.Log_Write_Mode(control_mode, reason);
#if ADSB_ENABLED == ENABLED #if ADSB_ENABLED == ENABLED
adsb.set_is_auto_mode((mode == AUTO) || (mode == RTL) || (mode == GUIDED)); adsb.set_is_auto_mode((mode == AUTO) || (mode == RTL) || (mode == GUIDED));

2
ArduCopter/mode_auto.cpp
View File

@ -379,7 +379,7 @@ bool Copter::ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
{ {
// To-Do: logging when new commands start/end // To-Do: logging when new commands start/end
if (copter.should_log(MASK_LOG_CMD)) { if (copter.should_log(MASK_LOG_CMD)) {
copter.DataFlash.Log_Write_Mission_Cmd(mission, cmd); copter.logger.Log_Write_Mission_Cmd(mission, cmd);
} }
switch(cmd.id) { switch(cmd.id) {

6
ArduCopter/mode_autotune.cpp
View File

@ -114,9 +114,9 @@ void Copter::AutoTune::init_z_limits()
void Copter::AutoTune::log_pids() void Copter::AutoTune::log_pids()
{ {
copter.DataFlash.Log_Write_PID(LOG_PIDR_MSG, copter.attitude_control->get_rate_roll_pid().get_pid_info()); copter.logger.Log_Write_PID(LOG_PIDR_MSG, copter.attitude_control->get_rate_roll_pid().get_pid_info());
copter.DataFlash.Log_Write_PID(LOG_PIDP_MSG, copter.attitude_control->get_rate_pitch_pid().get_pid_info()); copter.logger.Log_Write_PID(LOG_PIDP_MSG, copter.attitude_control->get_rate_pitch_pid().get_pid_info());
copter.DataFlash.Log_Write_PID(LOG_PIDY_MSG, copter.attitude_control->get_rate_yaw_pid().get_pid_info()); copter.logger.Log_Write_PID(LOG_PIDY_MSG, copter.attitude_control->get_rate_yaw_pid().get_pid_info());
} }

4
ArduCopter/mode_flowhold.cpp
View File

@ -211,7 +211,7 @@ void Copter::ModeFlowHold::flowhold_flow_to_angle(Vector2f &bf_angles, bool stic
bf_angles.y = constrain_float(bf_angles.y, -copter.aparm.angle_max, copter.aparm.angle_max); bf_angles.y = constrain_float(bf_angles.y, -copter.aparm.angle_max, copter.aparm.angle_max);
if (log_counter++ % 20 == 0) { if (log_counter++ % 20 == 0) {
DataFlash_Class::instance()->Log_Write("FHLD", "TimeUS,SFx,SFy,Ax,Ay,Qual,Ix,Iy", "Qfffffff", AP_Logger::instance()->Log_Write("FHLD", "TimeUS,SFx,SFy,Ax,Ay,Qual,Ix,Iy", "Qfffffff",
AP_HAL::micros64(), AP_HAL::micros64(),
(double)sensor_flow.x, (double)sensor_flow.y, (double)sensor_flow.x, (double)sensor_flow.y,
(double)bf_angles.x, (double)bf_angles.y, (double)bf_angles.x, (double)bf_angles.y,
@ -511,7 +511,7 @@ void Copter::ModeFlowHold::update_height_estimate(void)
// new height estimate for logging // new height estimate for logging
height_estimate = ins_height + height_offset; height_estimate = ins_height + height_offset;
DataFlash_Class::instance()->Log_Write("FXY", "TimeUS,DFx,DFy,DVx,DVy,Hest,DH,Hofs,InsH,LastInsH,DTms", "QfffffffffI", AP_Logger::instance()->Log_Write("FXY", "TimeUS,DFx,DFy,DVx,DVy,Hest,DH,Hofs,InsH,LastInsH,DTms", "QfffffffffI",
AP_HAL::micros64(), AP_HAL::micros64(),
(double)delta_flowrate.x, (double)delta_flowrate.x,
(double)delta_flowrate.y, (double)delta_flowrate.y,

2
ArduCopter/mode_throw.cpp
View File

@ -194,7 +194,7 @@ void Copter::ModeThrow::run()
const bool attitude_ok = (stage > Throw_Uprighting) || throw_attitude_good(); const bool attitude_ok = (stage > Throw_Uprighting) || throw_attitude_good();
const bool height_ok = (stage > Throw_HgtStabilise) || throw_height_good(); const bool height_ok = (stage > Throw_HgtStabilise) || throw_height_good();
const bool pos_ok = (stage > Throw_PosHold) || throw_position_good(); const bool pos_ok = (stage > Throw_PosHold) || throw_position_good();
DataFlash_Class::instance()->Log_Write( AP_Logger::instance()->Log_Write(
"THRO", "THRO",
"TimeUS,Stage,Vel,VelZ,Acc,AccEfZ,Throw,AttOk,HgtOk,PosOk", "TimeUS,Stage,Vel,VelZ,Acc,AccEfZ,Throw,AttOk,HgtOk,PosOk",
"s-nnoo----", "s-nnoo----",

6
ArduCopter/motors.cpp
View File

@ -157,7 +157,7 @@ bool Copter::init_arm_motors(const AP_Arming::ArmingMethod method, const bool do
} }
// let dataflash know that we're armed (it may open logs e.g.) // let dataflash know that we're armed (it may open logs e.g.)
DataFlash_Class::instance()->set_vehicle_armed(true); AP_Logger::instance()->set_vehicle_armed(true);
// disable cpu failsafe because initialising everything takes a while // disable cpu failsafe because initialising everything takes a while
failsafe_disable(); failsafe_disable();
@ -219,7 +219,7 @@ bool Copter::init_arm_motors(const AP_Arming::ArmingMethod method, const bool do
Log_Write_Event(DATA_ARMED); Log_Write_Event(DATA_ARMED);
// log flight mode in case it was changed while vehicle was disarmed // log flight mode in case it was changed while vehicle was disarmed
DataFlash.Log_Write_Mode(control_mode, control_mode_reason); logger.Log_Write_Mode(control_mode, control_mode_reason);
// reenable failsafe // reenable failsafe
failsafe_enable(); failsafe_enable();
@ -285,7 +285,7 @@ void Copter::init_disarm_motors()
mode_auto.mission.reset(); mode_auto.mission.reset();
#endif #endif
DataFlash_Class::instance()->set_vehicle_armed(false); AP_Logger::instance()->set_vehicle_armed(false);
// disable gps velocity based centrefugal force compensation // disable gps velocity based centrefugal force compensation
ahrs.set_correct_centrifugal(false); ahrs.set_correct_centrifugal(false);

12
ArduCopter/sensors.cpp
View File

@ -27,7 +27,7 @@ void Copter::read_rangefinder(void)
if (rangefinder.num_sensors() > 0 && if (rangefinder.num_sensors() > 0 &&
should_log(MASK_LOG_CTUN)) { should_log(MASK_LOG_CTUN)) {
DataFlash.Log_Write_RFND(rangefinder); logger.Log_Write_RFND(rangefinder);
} }
rangefinder_state.alt_healthy = ((rangefinder.status_orient(ROTATION_PITCH_270) == RangeFinder::RangeFinder_Good) && (rangefinder.range_valid_count_orient(ROTATION_PITCH_270) >= RANGEFINDER_HEALTH_MAX)); rangefinder_state.alt_healthy = ((rangefinder.status_orient(ROTATION_PITCH_270) == RangeFinder::RangeFinder_Good) && (rangefinder.range_valid_count_orient(ROTATION_PITCH_270) >= RANGEFINDER_HEALTH_MAX));
@ -79,7 +79,7 @@ void Copter::rpm_update(void)
rpm_sensor.update(); rpm_sensor.update();
if (rpm_sensor.enabled(0) || rpm_sensor.enabled(1)) { if (rpm_sensor.enabled(0) || rpm_sensor.enabled(1)) {
if (should_log(MASK_LOG_RCIN)) { if (should_log(MASK_LOG_RCIN)) {
DataFlash.Log_Write_RPM(rpm_sensor); logger.Log_Write_RPM(rpm_sensor);
} }
} }
#endif #endif
@ -216,7 +216,7 @@ void Copter::update_sensor_status_flags(void)
if (ap.rc_receiver_present) { if (ap.rc_receiver_present) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER; control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
} }
if (copter.DataFlash.logging_present()) { // primary logging only (usually File) if (copter.logger.logging_present()) { // primary logging only (usually File)
control_sensors_present |= MAV_SYS_STATUS_LOGGING; control_sensors_present |= MAV_SYS_STATUS_LOGGING;
} }
#if PROXIMITY_ENABLED == ENABLED #if PROXIMITY_ENABLED == ENABLED
@ -277,7 +277,7 @@ void Copter::update_sensor_status_flags(void)
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS; control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
} }
if (copter.DataFlash.logging_enabled()) { if (copter.logger.logging_enabled()) {
control_sensors_enabled |= MAV_SYS_STATUS_LOGGING; control_sensors_enabled |= MAV_SYS_STATUS_LOGGING;
} }
@ -338,7 +338,7 @@ void Copter::update_sensor_status_flags(void)
control_sensors_health &= ~MAV_SYS_STATUS_AHRS; control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
} }
if (copter.DataFlash.logging_failed()) { if (copter.logger.logging_failed()) {
control_sensors_health &= ~MAV_SYS_STATUS_LOGGING; control_sensors_health &= ~MAV_SYS_STATUS_LOGGING;
} }
@ -418,7 +418,7 @@ void Copter::update_visual_odom()
visual_odom_last_update_ms, visual_odom_last_update_ms,
g2.visual_odom.get_pos_offset()); g2.visual_odom.get_pos_offset());
// log sensor data // log sensor data
DataFlash.Log_Write_VisualOdom(time_delta_sec, logger.Log_Write_VisualOdom(time_delta_sec,
g2.visual_odom.get_angle_delta(), g2.visual_odom.get_angle_delta(),
g2.visual_odom.get_position_delta(), g2.visual_odom.get_position_delta(),
g2.visual_odom.get_confidence()); g2.visual_odom.get_confidence());

8
ArduCopter/system.cpp
View File

@ -239,8 +239,8 @@ void Copter::init_ardupilot()
g2.smart_rtl.init(); g2.smart_rtl.init();
#endif #endif
// initialise DataFlash library // initialise AP_Logger library
DataFlash.setVehicle_Startup_Log_Writer(FUNCTOR_BIND(&copter, &Copter::Log_Write_Vehicle_Startup_Messages, void)); logger.setVehicle_Startup_Log_Writer(FUNCTOR_BIND(&copter, &Copter::Log_Write_Vehicle_Startup_Messages, void));
// initialise rc channels including setting mode // initialise rc channels including setting mode
rc().init(); rc().init();
@ -408,8 +408,8 @@ void Copter::update_auto_armed()
bool Copter::should_log(uint32_t mask) bool Copter::should_log(uint32_t mask)
{ {
#if LOGGING_ENABLED == ENABLED #if LOGGING_ENABLED == ENABLED
ap.logging_started = DataFlash.logging_started(); ap.logging_started = logger.logging_started();
return DataFlash.should_log(mask); return logger.should_log(mask);
#else #else
return false; return false;
#endif #endif

2
ArduCopter/toy_mode.cpp
View File

@ -991,7 +991,7 @@ void ToyMode::thrust_limiting(float *thrust, uint8_t num_motors)
uint16_t pwm[4]; uint16_t pwm[4];
hal.rcout->read(pwm, 4); hal.rcout->read(pwm, 4);
if (motor_log_counter++ % 10 == 0) { if (motor_log_counter++ % 10 == 0) {
DataFlash_Class::instance()->Log_Write("THST", "TimeUS,Vol,Mul,M1,M2,M3,M4", "QffHHHH", AP_Logger::instance()->Log_Write("THST", "TimeUS,Vol,Mul,M1,M2,M3,M4", "QffHHHH",
AP_HAL::micros64(), AP_HAL::micros64(),
(double)filtered_voltage, (double)filtered_voltage,
(double)thrust_mul, (double)thrust_mul,

14
ArduPlane/ArduPlane.cpp
View File

@ -85,7 +85,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
#endif // AP_TERRAIN_AVAILABLE #endif // AP_TERRAIN_AVAILABLE
SCHED_TASK(update_is_flying_5Hz, 5, 100), SCHED_TASK(update_is_flying_5Hz, 5, 100),
#if LOGGING_ENABLED == ENABLED #if LOGGING_ENABLED == ENABLED
SCHED_TASK_CLASS(DataFlash_Class, &plane.DataFlash, periodic_tasks, 50, 400), SCHED_TASK_CLASS(AP_Logger, &plane.logger, periodic_tasks, 50, 400),
#endif #endif
SCHED_TASK_CLASS(AP_InertialSensor, &plane.ins, periodic, 50, 50), SCHED_TASK_CLASS(AP_InertialSensor, &plane.ins, periodic, 50, 50),
SCHED_TASK(avoidance_adsb_update, 10, 100), SCHED_TASK(avoidance_adsb_update, 10, 100),
@ -130,7 +130,7 @@ void Plane::update_soft_armed()
{ {
hal.util->set_soft_armed(arming.is_armed() && hal.util->set_soft_armed(arming.is_armed() &&
hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED); hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
DataFlash.set_vehicle_armed(hal.util->get_soft_armed()); logger.set_vehicle_armed(hal.util->get_soft_armed());
} }
// update AHRS system // update AHRS system
@ -148,7 +148,7 @@ void Plane::ahrs_update()
ahrs.update(); ahrs.update();
if (should_log(MASK_LOG_IMU)) { if (should_log(MASK_LOG_IMU)) {
DataFlash.Log_Write_IMU(); logger.Log_Write_IMU();
} }
// calculate a scaled roll limit based on current pitch // calculate a scaled roll limit based on current pitch
@ -195,7 +195,7 @@ void Plane::update_compass(void)
if (g.compass_enabled && compass.read()) { if (g.compass_enabled && compass.read()) {
ahrs.set_compass(&compass); ahrs.set_compass(&compass);
if (should_log(MASK_LOG_COMPASS) && !ahrs.have_ekf_logging()) { if (should_log(MASK_LOG_COMPASS) && !ahrs.have_ekf_logging()) {
DataFlash.Log_Write_Compass(); logger.Log_Write_Compass();
} }
} }
} }
@ -210,10 +210,10 @@ void Plane::update_logging1(void)
} }
if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_IMU)) if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_IMU))
DataFlash.Log_Write_IMU(); logger.Log_Write_IMU();
if (should_log(MASK_LOG_ATTITUDE_MED)) if (should_log(MASK_LOG_ATTITUDE_MED))
DataFlash.Log_Write_AOA_SSA(ahrs); logger.Log_Write_AOA_SSA(ahrs);
} }
/* /*
@ -231,7 +231,7 @@ void Plane::update_logging2(void)
Log_Write_RC(); Log_Write_RC();
if (should_log(MASK_LOG_IMU)) if (should_log(MASK_LOG_IMU))
DataFlash.Log_Write_Vibration(); logger.Log_Write_Vibration();
} }

10
ArduPlane/GCS_Mavlink.cpp
View File

@ -344,7 +344,7 @@ void NOINLINE Plane::send_rpm(mavlink_channel_t chan)
} }
// sends a single pid info over the provided channel // sends a single pid info over the provided channel
void Plane::send_pid_info(const mavlink_channel_t chan, const DataFlash_Class::PID_Info *pid_info, void Plane::send_pid_info(const mavlink_channel_t chan, const AP_Logger::PID_Info *pid_info,
const uint8_t axis, const float achieved) const uint8_t axis, const float achieved)
{ {
if (pid_info == nullptr) { if (pid_info == nullptr) {
@ -368,7 +368,7 @@ void Plane::send_pid_info(const mavlink_channel_t chan, const DataFlash_Class::P
void Plane::send_pid_tuning(mavlink_channel_t chan) void Plane::send_pid_tuning(mavlink_channel_t chan)
{ {
const Vector3f &gyro = ahrs.get_gyro(); const Vector3f &gyro = ahrs.get_gyro();
const DataFlash_Class::PID_Info *pid_info; const AP_Logger::PID_Info *pid_info;
if (g.gcs_pid_mask & TUNING_BITS_ROLL) { if (g.gcs_pid_mask & TUNING_BITS_ROLL) {
if (quadplane.in_vtol_mode()) { if (quadplane.in_vtol_mode()) {
pid_info = &quadplane.attitude_control->get_rate_roll_pid().get_pid_info(); pid_info = &quadplane.attitude_control->get_rate_roll_pid().get_pid_info();
@ -1272,7 +1272,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_RADIO: case MAVLINK_MSG_ID_RADIO:
case MAVLINK_MSG_ID_RADIO_STATUS: case MAVLINK_MSG_ID_RADIO_STATUS:
{ {
handle_radio_status(msg, plane.DataFlash, plane.should_log(MASK_LOG_PM)); handle_radio_status(msg, plane.logger, plane.should_log(MASK_LOG_PM));
break; break;
} }
@ -1478,7 +1478,7 @@ void Plane::mavlink_delay_cb()
static uint32_t last_1hz, last_50hz, last_5s; static uint32_t last_1hz, last_50hz, last_5s;
if (!gcs().chan(0).initialised) return; if (!gcs().chan(0).initialised) return;
DataFlash.EnableWrites(false); logger.EnableWrites(false);
uint32_t tnow = millis(); uint32_t tnow = millis();
if (tnow - last_1hz > 1000) { if (tnow - last_1hz > 1000) {
@ -1497,7 +1497,7 @@ void Plane::mavlink_delay_cb()
gcs().send_text(MAV_SEVERITY_INFO, "Initialising APM"); gcs().send_text(MAV_SEVERITY_INFO, "Initialising APM");
} }
DataFlash.EnableWrites(true); logger.EnableWrites(true);
} }
/* /*

60
ArduPlane/Log.cpp
View File

@ -21,31 +21,31 @@ void Plane::Log_Write_Attitude(void)
// we need the attitude targets from the AC_AttitudeControl controller, as they // we need the attitude targets from the AC_AttitudeControl controller, as they
// account for the acceleration limits // account for the acceleration limits
targets = quadplane.attitude_control->get_att_target_euler_cd(); targets = quadplane.attitude_control->get_att_target_euler_cd();
DataFlash.Log_Write_AttitudeView(*quadplane.ahrs_view, targets); logger.Log_Write_AttitudeView(*quadplane.ahrs_view, targets);
} else { } else {
DataFlash.Log_Write_Attitude(ahrs, targets); logger.Log_Write_Attitude(ahrs, targets);
} }
if (quadplane.in_vtol_mode() || quadplane.in_assisted_flight()) { if (quadplane.in_vtol_mode() || quadplane.in_assisted_flight()) {
// log quadplane PIDs separately from fixed wing PIDs // log quadplane PIDs separately from fixed wing PIDs
DataFlash.Log_Write_PID(LOG_PIQR_MSG, quadplane.attitude_control->get_rate_roll_pid().get_pid_info()); logger.Log_Write_PID(LOG_PIQR_MSG, quadplane.attitude_control->get_rate_roll_pid().get_pid_info());
DataFlash.Log_Write_PID(LOG_PIQP_MSG, quadplane.attitude_control->get_rate_pitch_pid().get_pid_info()); logger.Log_Write_PID(LOG_PIQP_MSG, quadplane.attitude_control->get_rate_pitch_pid().get_pid_info());
DataFlash.Log_Write_PID(LOG_PIQY_MSG, quadplane.attitude_control->get_rate_yaw_pid().get_pid_info()); logger.Log_Write_PID(LOG_PIQY_MSG, quadplane.attitude_control->get_rate_yaw_pid().get_pid_info());
DataFlash.Log_Write_PID(LOG_PIQA_MSG, quadplane.pos_control->get_accel_z_pid().get_pid_info() ); logger.Log_Write_PID(LOG_PIQA_MSG, quadplane.pos_control->get_accel_z_pid().get_pid_info() );
} }
DataFlash.Log_Write_PID(LOG_PIDR_MSG, rollController.get_pid_info()); logger.Log_Write_PID(LOG_PIDR_MSG, rollController.get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDP_MSG, pitchController.get_pid_info()); logger.Log_Write_PID(LOG_PIDP_MSG, pitchController.get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDY_MSG, yawController.get_pid_info()); logger.Log_Write_PID(LOG_PIDY_MSG, yawController.get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDS_MSG, steerController.get_pid_info()); logger.Log_Write_PID(LOG_PIDS_MSG, steerController.get_pid_info());
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE
DataFlash.Log_Write_EKF(ahrs); logger.Log_Write_EKF(ahrs);
DataFlash.Log_Write_AHRS2(ahrs); logger.Log_Write_AHRS2(ahrs);
#endif #endif
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
sitl.Log_Write_SIMSTATE(); sitl.Log_Write_SIMSTATE();
#endif #endif
DataFlash.Log_Write_POS(ahrs); logger.Log_Write_POS(ahrs);
} }
// do logging at loop rate // do logging at loop rate
@ -72,7 +72,7 @@ void Plane::Log_Write_Startup(uint8_t type)
startup_type : type, startup_type : type,
command_total : mission.num_commands() command_total : mission.num_commands()
}; };
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt)); logger.WriteCriticalBlock(&pkt, sizeof(pkt));
} }
struct PACKED log_Control_Tuning { struct PACKED log_Control_Tuning {
@ -106,7 +106,7 @@ void Plane::Log_Write_Control_Tuning()
throttle_dem : (int16_t)SpdHgt_Controller->get_throttle_demand(), throttle_dem : (int16_t)SpdHgt_Controller->get_throttle_demand(),
airspeed_estimate : est_airspeed airspeed_estimate : est_airspeed
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); logger.WriteBlock(&pkt, sizeof(pkt));
} }
struct PACKED log_Nav_Tuning { struct PACKED log_Nav_Tuning {
@ -143,7 +143,7 @@ void Plane::Log_Write_Nav_Tuning()
target_alt : next_WP_loc.alt, target_alt : next_WP_loc.alt,
target_airspeed : target_airspeed_cm, target_airspeed : target_airspeed_cm,
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); logger.WriteBlock(&pkt, sizeof(pkt));
} }
struct PACKED log_Status { struct PACKED log_Status {
@ -174,7 +174,7 @@ void Plane::Log_Write_Status()
,impact : crash_state.impact_detected ,impact : crash_state.impact_detected
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); logger.WriteBlock(&pkt, sizeof(pkt));
} }
struct PACKED log_Sonar { struct PACKED log_Sonar {
@ -202,9 +202,9 @@ void Plane::Log_Write_Sonar()
count : rangefinder_state.in_range_count, count : rangefinder_state.in_range_count,
correction : rangefinder_state.correction correction : rangefinder_state.correction
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); logger.WriteBlock(&pkt, sizeof(pkt));
DataFlash.Log_Write_RFND(rangefinder); logger.Log_Write_RFND(rangefinder);
} }
struct PACKED log_Arm_Disarm { struct PACKED log_Arm_Disarm {
@ -221,7 +221,7 @@ void Plane::Log_Arm_Disarm() {
arm_state : arming.is_armed(), arm_state : arming.is_armed(),
arm_checks : arming.get_enabled_checks() arm_checks : arming.get_enabled_checks()
}; };
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt)); logger.WriteCriticalBlock(&pkt, sizeof(pkt));
} }
@ -247,21 +247,21 @@ void Plane::Log_Write_AETR()
,flap : SRV_Channels::get_output_scaled(SRV_Channel::k_flap_auto) ,flap : SRV_Channels::get_output_scaled(SRV_Channel::k_flap_auto)
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); logger.WriteBlock(&pkt, sizeof(pkt));
} }
void Plane::Log_Write_RC(void) void Plane::Log_Write_RC(void)
{ {
DataFlash.Log_Write_RCIN(); logger.Log_Write_RCIN();
DataFlash.Log_Write_RCOUT(); logger.Log_Write_RCOUT();
if (rssi.enabled()) { if (rssi.enabled()) {
DataFlash.Log_Write_RSSI(rssi); logger.Log_Write_RSSI(rssi);
} }
Log_Write_AETR(); Log_Write_AETR();
} }
// type and unit information can be found in // type and unit information can be found in
// libraries/DataFlash/Logstructure.h; search for "log_Units" for // libraries/AP_Logger/Logstructure.h; search for "log_Units" for
// units and "Format characters" for field type information // units and "Format characters" for field type information
const struct LogStructure Plane::log_structure[] = { const struct LogStructure Plane::log_structure[] = {
LOG_COMMON_STRUCTURES, LOG_COMMON_STRUCTURES,
@ -297,12 +297,12 @@ const struct LogStructure Plane::log_structure[] = {
void Plane::Log_Write_Vehicle_Startup_Messages() void Plane::Log_Write_Vehicle_Startup_Messages()
{ {
// only 200(?) bytes are guaranteed by DataFlash // only 200(?) bytes are guaranteed by AP_Logger
Log_Write_Startup(TYPE_GROUNDSTART_MSG); Log_Write_Startup(TYPE_GROUNDSTART_MSG);
DataFlash.Log_Write_Mode(control_mode, control_mode_reason); logger.Log_Write_Mode(control_mode, control_mode_reason);
DataFlash.Log_Write_Rally(rally); logger.Log_Write_Rally(rally);
ahrs.Log_Write_Home_And_Origin(); ahrs.Log_Write_Home_And_Origin();
gps.Write_DataFlash_Log_Startup_messages(); gps.Write_AP_Logger_Log_Startup_messages();
} }
/* /*
@ -310,7 +310,7 @@ void Plane::Log_Write_Vehicle_Startup_Messages()
*/ */
void Plane::log_init(void) void Plane::log_init(void)
{ {
DataFlash.Init(log_structure, ARRAY_SIZE(log_structure)); logger.Init(log_structure, ARRAY_SIZE(log_structure));
} }
#else // LOGGING_ENABLED #else // LOGGING_ENABLED

4
ArduPlane/Parameters.cpp
View File

@ -1018,8 +1018,8 @@ const AP_Param::Info Plane::var_info[] = {
#endif #endif
// @Group: LOG // @Group: LOG
// @Path: ../libraries/DataFlash/DataFlash.cpp // @Path: ../libraries/AP_Logger/AP_Logger.cpp
GOBJECT(DataFlash, "LOG", DataFlash_Class), GOBJECT(logger, "LOG", AP_Logger),
// @Group: BATT // @Group: BATT
// @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp

2
ArduPlane/Parameters.h
View File

@ -342,7 +342,7 @@ public:
k_param_mixing_offset, k_param_mixing_offset,
k_param_dspoiler_rud_rate, k_param_dspoiler_rud_rate,
k_param_DataFlash = 253, // Logging Group k_param_logger = 253, // Logging Group
// 254,255: reserved // 254,255: reserved
}; };

2
ArduPlane/Plane.cpp
View File

@ -24,7 +24,7 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
constructor for main Plane class constructor for main Plane class
*/ */
Plane::Plane(void) Plane::Plane(void)
: DataFlash(g.log_bitmask) : logger(g.log_bitmask)
{ {
// C++11 doesn't allow in-class initialisation of bitfields // C++11 doesn't allow in-class initialisation of bitfields
auto_state.takeoff_complete = true; auto_state.takeoff_complete = true;

6
ArduPlane/Plane.h
View File

@ -58,7 +58,7 @@
#include <AP_SerialManager/AP_SerialManager.h> // Serial manager library #include <AP_SerialManager/AP_SerialManager.h> // Serial manager library
#include <AP_Mount/AP_Mount.h> // Camera/Antenna mount #include <AP_Mount/AP_Mount.h> // Camera/Antenna mount
#include <AP_Declination/AP_Declination.h> // ArduPilot Mega Declination Helper Library #include <AP_Declination/AP_Declination.h> // ArduPilot Mega Declination Helper Library
#include <DataFlash/DataFlash.h> #include <AP_Logger/AP_Logger.h>
#include <AP_Scheduler/AP_Scheduler.h> // main loop scheduler #include <AP_Scheduler/AP_Scheduler.h> // main loop scheduler
#include <AP_Scheduler/PerfInfo.h> // loop perf monitoring #include <AP_Scheduler/PerfInfo.h> // loop perf monitoring
@ -196,7 +196,7 @@ private:
// notification object for LEDs, buzzers etc (parameter set to false disables external leds) // notification object for LEDs, buzzers etc (parameter set to false disables external leds)
AP_Notify notify; AP_Notify notify;
DataFlash_Class DataFlash; AP_Logger logger;
// scaled roll limit based on pitch // scaled roll limit based on pitch
int32_t roll_limit_cd; int32_t roll_limit_cd;
@ -808,7 +808,7 @@ private:
void send_nav_controller_output(mavlink_channel_t chan); void send_nav_controller_output(mavlink_channel_t chan);
void send_servo_out(mavlink_channel_t chan); void send_servo_out(mavlink_channel_t chan);
void send_wind(mavlink_channel_t chan); void send_wind(mavlink_channel_t chan);
void send_pid_info(const mavlink_channel_t chan, const DataFlash_Class::PID_Info *pid_info, const uint8_t axis, const float achieved); void send_pid_info(const mavlink_channel_t chan, const AP_Logger::PID_Info *pid_info, const uint8_t axis, const float achieved);
void send_pid_tuning(mavlink_channel_t chan); void send_pid_tuning(mavlink_channel_t chan);
void send_rpm(mavlink_channel_t chan); void send_rpm(mavlink_channel_t chan);

4
ArduPlane/commands_logic.cpp
View File

@ -10,7 +10,7 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
// log when new commands start // log when new commands start
if (should_log(MASK_LOG_CMD)) { if (should_log(MASK_LOG_CMD)) {
DataFlash.Log_Write_Mission_Cmd(mission, cmd); logger.Log_Write_Mission_Cmd(mission, cmd);
} }
// special handling for nav vs non-nav commands // special handling for nav vs non-nav commands
@ -337,7 +337,7 @@ void Plane::do_RTL(int32_t rtl_altitude)
setup_glide_slope(); setup_glide_slope();
setup_turn_angle(); setup_turn_angle();
DataFlash.Log_Write_Mode(control_mode, control_mode_reason); logger.Log_Write_Mode(control_mode, control_mode_reason);
} }
/* /*

8
ArduPlane/qautotune.cpp
View File

@ -51,7 +51,7 @@ void QAutoTune::Log_Write_Event(enum at_event id)
{ {
// offset of 30 aligned with ArduCopter autotune events // offset of 30 aligned with ArduCopter autotune events
uint8_t ev_id = 30 + (uint8_t)id; uint8_t ev_id = 30 + (uint8_t)id;
DataFlash_Class::instance()->Log_Write( AP_Logger::instance()->Log_Write(
"EVT", "EVT",
"TimeUS,Id", "TimeUS,Id",
"s-", "s-",
@ -64,9 +64,9 @@ void QAutoTune::Log_Write_Event(enum at_event id)
// log VTOL PIDs for during twitch // log VTOL PIDs for during twitch
void QAutoTune::log_pids(void) void QAutoTune::log_pids(void)
{ {
DataFlash_Class::instance()->Log_Write_PID(LOG_PIQR_MSG, plane.quadplane.attitude_control->get_rate_roll_pid().get_pid_info()); AP_Logger::instance()->Log_Write_PID(LOG_PIQR_MSG, plane.quadplane.attitude_control->get_rate_roll_pid().get_pid_info());
DataFlash_Class::instance()->Log_Write_PID(LOG_PIQP_MSG, plane.quadplane.attitude_control->get_rate_pitch_pid().get_pid_info()); AP_Logger::instance()->Log_Write_PID(LOG_PIQP_MSG, plane.quadplane.attitude_control->get_rate_pitch_pid().get_pid_info());
DataFlash_Class::instance()->Log_Write_PID(LOG_PIQY_MSG, plane.quadplane.attitude_control->get_rate_yaw_pid().get_pid_info()); AP_Logger::instance()->Log_Write_PID(LOG_PIQY_MSG, plane.quadplane.attitude_control->get_rate_yaw_pid().get_pid_info());
} }
#endif // QAUTOTUNE_ENABLED #endif // QAUTOTUNE_ENABLED

4
ArduPlane/quadplane.cpp
View File

@ -1643,7 +1643,7 @@ void QuadPlane::motors_output(bool run_rate_controller)
motors->output(); motors->output();
if (motors->armed() && motors->get_throttle() > 0) { if (motors->armed() && motors->get_throttle() > 0) {
plane.DataFlash.Log_Write_Rate(ahrs_view, *motors, *attitude_control, *pos_control); plane.logger.Log_Write_Rate(ahrs_view, *motors, *attitude_control, *pos_control);
Log_Write_QControl_Tuning(); Log_Write_QControl_Tuning();
const uint32_t now = AP_HAL::millis(); const uint32_t now = AP_HAL::millis();
if (now - last_ctrl_log_ms > 100) { if (now - last_ctrl_log_ms > 100) {
@ -2384,7 +2384,7 @@ void QuadPlane::Log_Write_QControl_Tuning()
climb_rate : int16_t(inertial_nav.get_velocity_z()), climb_rate : int16_t(inertial_nav.get_velocity_z()),
throttle_mix : attitude_control->get_throttle_mix(), throttle_mix : attitude_control->get_throttle_mix(),
}; };
plane.DataFlash.WriteBlock(&pkt, sizeof(pkt)); plane.logger.WriteBlock(&pkt, sizeof(pkt));
// write multicopter position control message // write multicopter position control message
pos_control->write_log(); pos_control->write_log();

8
ArduPlane/sensors.cpp
View File

@ -87,7 +87,7 @@ void Plane::rpm_update(void)
rpm_sensor.update(); rpm_sensor.update();
if (rpm_sensor.enabled(0) || rpm_sensor.enabled(1)) { if (rpm_sensor.enabled(0) || rpm_sensor.enabled(1)) {
if (should_log(MASK_LOG_RC)) { if (should_log(MASK_LOG_RC)) {
DataFlash.Log_Write_RPM(rpm_sensor); logger.Log_Write_RPM(rpm_sensor);
} }
} }
} }
@ -124,7 +124,7 @@ void Plane::update_sensor_status_flags(void)
if (have_reverse_thrust()) { if (have_reverse_thrust()) {
control_sensors_present |= MAV_SYS_STATUS_REVERSE_MOTOR; control_sensors_present |= MAV_SYS_STATUS_REVERSE_MOTOR;
} }
if (plane.DataFlash.logging_present()) { // primary logging only (usually File) if (plane.logger.logging_present()) { // primary logging only (usually File)
control_sensors_present |= MAV_SYS_STATUS_LOGGING; control_sensors_present |= MAV_SYS_STATUS_LOGGING;
} }
@ -139,7 +139,7 @@ void Plane::update_sensor_status_flags(void)
control_sensors_enabled |= MAV_SYS_STATUS_GEOFENCE; control_sensors_enabled |= MAV_SYS_STATUS_GEOFENCE;
} }
if (plane.DataFlash.logging_enabled()) { if (plane.logger.logging_enabled()) {
control_sensors_enabled |= MAV_SYS_STATUS_LOGGING; control_sensors_enabled |= MAV_SYS_STATUS_LOGGING;
} }
@ -248,7 +248,7 @@ void Plane::update_sensor_status_flags(void)
} }
#endif #endif
if (plane.DataFlash.logging_failed()) { if (plane.logger.logging_failed()) {
control_sensors_health &= ~MAV_SYS_STATUS_LOGGING; control_sensors_health &= ~MAV_SYS_STATUS_LOGGING;
} }

8
ArduPlane/system.cpp
View File

@ -247,9 +247,9 @@ void Plane::startup_ground(void)
// initialise mission library // initialise mission library
mission.init(); mission.init();
// initialise DataFlash library // initialise AP_Logger library
#if LOGGING_ENABLED == ENABLED #if LOGGING_ENABLED == ENABLED
DataFlash.setVehicle_Startup_Log_Writer( logger.setVehicle_Startup_Log_Writer(
FUNCTOR_BIND(&plane, &Plane::Log_Write_Vehicle_Startup_Messages, void) FUNCTOR_BIND(&plane, &Plane::Log_Write_Vehicle_Startup_Messages, void)
); );
#endif #endif
@ -505,7 +505,7 @@ void Plane::set_mode(enum FlightMode mode, mode_reason_t reason)
adsb.set_is_auto_mode(auto_navigation_mode); adsb.set_is_auto_mode(auto_navigation_mode);
DataFlash.Log_Write_Mode(control_mode, control_mode_reason); logger.Log_Write_Mode(control_mode, control_mode_reason);
// update notify with flight mode change // update notify with flight mode change
notify_flight_mode(control_mode); notify_flight_mode(control_mode);
@ -735,7 +735,7 @@ void Plane::notify_flight_mode(enum FlightMode mode)
bool Plane::should_log(uint32_t mask) bool Plane::should_log(uint32_t mask)
{ {
#if LOGGING_ENABLED == ENABLED #if LOGGING_ENABLED == ENABLED
return DataFlash.should_log(mask); return logger.should_log(mask);
#else #else
return false; return false;
#endif #endif

32
ArduSub/ArduSub.cpp
View File

@ -49,7 +49,7 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
#endif #endif
SCHED_TASK(ten_hz_logging_loop, 10, 350), SCHED_TASK(ten_hz_logging_loop, 10, 350),
SCHED_TASK(twentyfive_hz_logging, 25, 110), SCHED_TASK(twentyfive_hz_logging, 25, 110),
SCHED_TASK_CLASS(DataFlash_Class, &sub.DataFlash, periodic_tasks, 400, 300), SCHED_TASK_CLASS(AP_Logger, &sub.logger, periodic_tasks, 400, 300),
SCHED_TASK_CLASS(AP_InertialSensor, &sub.ins, periodic, 400, 50), SCHED_TASK_CLASS(AP_InertialSensor, &sub.ins, periodic, 400, 50),
SCHED_TASK_CLASS(AP_Scheduler, &sub.scheduler, update_logging, 0.1, 75), SCHED_TASK_CLASS(AP_Scheduler, &sub.scheduler, update_logging, 0.1, 75),
#if RPM_ENABLED == ENABLED #if RPM_ENABLED == ENABLED
@ -173,7 +173,7 @@ void Sub::update_batt_compass()
compass.read(); compass.read();
// log compass information // log compass information
if (should_log(MASK_LOG_COMPASS) && !ahrs.have_ekf_logging()) { if (should_log(MASK_LOG_COMPASS) && !ahrs.have_ekf_logging()) {
DataFlash.Log_Write_Compass(); logger.Log_Write_Compass();
} }
} }
} }
@ -185,28 +185,28 @@ void Sub::ten_hz_logging_loop()
// log attitude data if we're not already logging at the higher rate // log attitude data if we're not already logging at the higher rate
if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) { if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) {
Log_Write_Attitude(); Log_Write_Attitude();
DataFlash.Log_Write_Rate(&ahrs_view, motors, attitude_control, pos_control); logger.Log_Write_Rate(&ahrs_view, motors, attitude_control, pos_control);
if (should_log(MASK_LOG_PID)) { if (should_log(MASK_LOG_PID)) {
DataFlash.Log_Write_PID(LOG_PIDR_MSG, attitude_control.get_rate_roll_pid().get_pid_info()); logger.Log_Write_PID(LOG_PIDR_MSG, attitude_control.get_rate_roll_pid().get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDP_MSG, attitude_control.get_rate_pitch_pid().get_pid_info()); logger.Log_Write_PID(LOG_PIDP_MSG, attitude_control.get_rate_pitch_pid().get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDY_MSG, attitude_control.get_rate_yaw_pid().get_pid_info()); logger.Log_Write_PID(LOG_PIDY_MSG, attitude_control.get_rate_yaw_pid().get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDA_MSG, pos_control.get_accel_z_pid().get_pid_info()); logger.Log_Write_PID(LOG_PIDA_MSG, pos_control.get_accel_z_pid().get_pid_info());
} }
} }
if (should_log(MASK_LOG_MOTBATT)) { if (should_log(MASK_LOG_MOTBATT)) {
Log_Write_MotBatt(); Log_Write_MotBatt();
} }
if (should_log(MASK_LOG_RCIN)) { if (should_log(MASK_LOG_RCIN)) {
DataFlash.Log_Write_RCIN(); logger.Log_Write_RCIN();
} }
if (should_log(MASK_LOG_RCOUT)) { if (should_log(MASK_LOG_RCOUT)) {
DataFlash.Log_Write_RCOUT(); logger.Log_Write_RCOUT();
} }
if (should_log(MASK_LOG_NTUN) && mode_requires_GPS(control_mode)) { if (should_log(MASK_LOG_NTUN) && mode_requires_GPS(control_mode)) {
pos_control.write_log(); pos_control.write_log();
} }
if (should_log(MASK_LOG_IMU) || should_log(MASK_LOG_IMU_FAST) || should_log(MASK_LOG_IMU_RAW)) { if (should_log(MASK_LOG_IMU) || should_log(MASK_LOG_IMU_FAST) || should_log(MASK_LOG_IMU_RAW)) {
DataFlash.Log_Write_Vibration(); logger.Log_Write_Vibration();
} }
if (should_log(MASK_LOG_CTUN)) { if (should_log(MASK_LOG_CTUN)) {
attitude_control.control_monitor_log(); attitude_control.control_monitor_log();
@ -219,18 +219,18 @@ void Sub::twentyfive_hz_logging()
{ {
if (should_log(MASK_LOG_ATTITUDE_FAST)) { if (should_log(MASK_LOG_ATTITUDE_FAST)) {
Log_Write_Attitude(); Log_Write_Attitude();
DataFlash.Log_Write_Rate(&ahrs_view, motors, attitude_control, pos_control); logger.Log_Write_Rate(&ahrs_view, motors, attitude_control, pos_control);
if (should_log(MASK_LOG_PID)) { if (should_log(MASK_LOG_PID)) {
DataFlash.Log_Write_PID(LOG_PIDR_MSG, attitude_control.get_rate_roll_pid().get_pid_info()); logger.Log_Write_PID(LOG_PIDR_MSG, attitude_control.get_rate_roll_pid().get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDP_MSG, attitude_control.get_rate_pitch_pid().get_pid_info()); logger.Log_Write_PID(LOG_PIDP_MSG, attitude_control.get_rate_pitch_pid().get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDY_MSG, attitude_control.get_rate_yaw_pid().get_pid_info()); logger.Log_Write_PID(LOG_PIDY_MSG, attitude_control.get_rate_yaw_pid().get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDA_MSG, pos_control.get_accel_z_pid().get_pid_info()); logger.Log_Write_PID(LOG_PIDA_MSG, pos_control.get_accel_z_pid().get_pid_info());
} }
} }
// log IMU data if we're not already logging at the higher rate // log IMU data if we're not already logging at the higher rate
if (should_log(MASK_LOG_IMU) && !should_log(MASK_LOG_IMU_RAW)) { if (should_log(MASK_LOG_IMU) && !should_log(MASK_LOG_IMU_RAW)) {
DataFlash.Log_Write_IMU(); logger.Log_Write_IMU();
} }
} }

12
ArduSub/GCS_Mavlink.cpp
View File

@ -320,7 +320,7 @@ void Sub::send_pid_tuning(mavlink_channel_t chan)
{ {
const Vector3f &gyro = ahrs.get_gyro(); const Vector3f &gyro = ahrs.get_gyro();
if (g.gcs_pid_mask & 1) { if (g.gcs_pid_mask & 1) {
const DataFlash_Class::PID_Info &pid_info = attitude_control.get_rate_roll_pid().get_pid_info(); const AP_Logger::PID_Info &pid_info = attitude_control.get_rate_roll_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_ROLL, mavlink_msg_pid_tuning_send(chan, PID_TUNING_ROLL,
pid_info.desired*0.01f, pid_info.desired*0.01f,
degrees(gyro.x), degrees(gyro.x),
@ -333,7 +333,7 @@ void Sub::send_pid_tuning(mavlink_channel_t chan)
} }
} }
if (g.gcs_pid_mask & 2) { if (g.gcs_pid_mask & 2) {
const DataFlash_Class::PID_Info &pid_info = attitude_control.get_rate_pitch_pid().get_pid_info(); const AP_Logger::PID_Info &pid_info = attitude_control.get_rate_pitch_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH, mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH,
pid_info.desired*0.01f, pid_info.desired*0.01f,
degrees(gyro.y), degrees(gyro.y),
@ -346,7 +346,7 @@ void Sub::send_pid_tuning(mavlink_channel_t chan)
} }
} }
if (g.gcs_pid_mask & 4) { if (g.gcs_pid_mask & 4) {
const DataFlash_Class::PID_Info &pid_info = attitude_control.get_rate_yaw_pid().get_pid_info(); const AP_Logger::PID_Info &pid_info = attitude_control.get_rate_yaw_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_YAW, mavlink_msg_pid_tuning_send(chan, PID_TUNING_YAW,
pid_info.desired*0.01f, pid_info.desired*0.01f,
degrees(gyro.z), degrees(gyro.z),
@ -359,7 +359,7 @@ void Sub::send_pid_tuning(mavlink_channel_t chan)
} }
} }
if (g.gcs_pid_mask & 8) { if (g.gcs_pid_mask & 8) {
const DataFlash_Class::PID_Info &pid_info = pos_control.get_accel_z_pid().get_pid_info(); const AP_Logger::PID_Info &pid_info = pos_control.get_accel_z_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ, mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ,
pid_info.desired*0.01f, pid_info.desired*0.01f,
-(ahrs.get_accel_ef_blended().z + GRAVITY_MSS), -(ahrs.get_accel_ef_blended().z + GRAVITY_MSS),
@ -1141,7 +1141,7 @@ void Sub::mavlink_delay_cb()
return; return;
} }
DataFlash.EnableWrites(false); logger.EnableWrites(false);
uint32_t tnow = AP_HAL::millis(); uint32_t tnow = AP_HAL::millis();
if (tnow - last_1hz > 1000) { if (tnow - last_1hz > 1000) {
@ -1160,7 +1160,7 @@ void Sub::mavlink_delay_cb()
gcs().send_text(MAV_SEVERITY_INFO, "Initialising APM"); gcs().send_text(MAV_SEVERITY_INFO, "Initialising APM");
} }
DataFlash.EnableWrites(true); logger.EnableWrites(true);
} }
MAV_RESULT GCS_MAVLINK_Sub::handle_flight_termination(const mavlink_command_long_t &packet) { MAV_RESULT GCS_MAVLINK_Sub::handle_flight_termination(const mavlink_command_long_t &packet) {

40
ArduSub/Log.cpp
View File

@ -2,7 +2,7 @@
#if LOGGING_ENABLED == ENABLED #if LOGGING_ENABLED == ENABLED
// Code to Write and Read packets from DataFlash log memory // Code to Write and Read packets from AP_Logger log memory
// Code to interact with the user to dump or erase logs // Code to interact with the user to dump or erase logs
struct PACKED log_Control_Tuning { struct PACKED log_Control_Tuning {
@ -47,7 +47,7 @@ void Sub::Log_Write_Control_Tuning()
target_climb_rate : (int16_t)pos_control.get_vel_target_z(), target_climb_rate : (int16_t)pos_control.get_vel_target_z(),
climb_rate : climb_rate climb_rate : climb_rate
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); logger.WriteBlock(&pkt, sizeof(pkt));
} }
// Write an attitude packet // Write an attitude packet
@ -55,14 +55,14 @@ void Sub::Log_Write_Attitude()
{ {
Vector3f targets = attitude_control.get_att_target_euler_cd(); Vector3f targets = attitude_control.get_att_target_euler_cd();
targets.z = wrap_360_cd(targets.z); targets.z = wrap_360_cd(targets.z);
DataFlash.Log_Write_Attitude(ahrs, targets); logger.Log_Write_Attitude(ahrs, targets);
DataFlash.Log_Write_EKF(ahrs); logger.Log_Write_EKF(ahrs);
DataFlash.Log_Write_AHRS2(ahrs); logger.Log_Write_AHRS2(ahrs);
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
sitl.Log_Write_SIMSTATE(); sitl.Log_Write_SIMSTATE();
#endif #endif
DataFlash.Log_Write_POS(ahrs); logger.Log_Write_POS(ahrs);
} }
struct PACKED log_MotBatt { struct PACKED log_MotBatt {
@ -85,7 +85,7 @@ void Sub::Log_Write_MotBatt()
bat_res : (float)(battery.get_resistance()), bat_res : (float)(battery.get_resistance()),
th_limit : (float)(motors.get_throttle_limit()) th_limit : (float)(motors.get_throttle_limit())
}; };
DataFlash.WriteBlock(&pkt_mot, sizeof(pkt_mot)); logger.WriteBlock(&pkt_mot, sizeof(pkt_mot));
} }
struct PACKED log_Event { struct PACKED log_Event {
@ -103,7 +103,7 @@ void Sub::Log_Write_Event(uint8_t id)
time_us : AP_HAL::micros64(), time_us : AP_HAL::micros64(),
id : id id : id
}; };
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt)); logger.WriteCriticalBlock(&pkt, sizeof(pkt));
} }
} }
@ -125,7 +125,7 @@ void Sub::Log_Write_Data(uint8_t id, int16_t value)
id : id, id : id,
data_value : value data_value : value
}; };
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt)); logger.WriteCriticalBlock(&pkt, sizeof(pkt));
} }
} }
@ -147,7 +147,7 @@ void Sub::Log_Write_Data(uint8_t id, uint16_t value)
id : id, id : id,
data_value : value data_value : value
}; };
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt)); logger.WriteCriticalBlock(&pkt, sizeof(pkt));
} }
} }
@ -168,7 +168,7 @@ void Sub::Log_Write_Data(uint8_t id, int32_t value)
id : id, id : id,
data_value : value data_value : value
}; };
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt)); logger.WriteCriticalBlock(&pkt, sizeof(pkt));
} }
} }
@ -189,7 +189,7 @@ void Sub::Log_Write_Data(uint8_t id, uint32_t value)
id : id, id : id,
data_value : value data_value : value
}; };
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt)); logger.WriteCriticalBlock(&pkt, sizeof(pkt));
} }
} }
@ -211,7 +211,7 @@ void Sub::Log_Write_Data(uint8_t id, float value)
id : id, id : id,
data_value : value data_value : value
}; };
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt)); logger.WriteCriticalBlock(&pkt, sizeof(pkt));
} }
} }
@ -231,7 +231,7 @@ void Sub::Log_Write_Error(uint8_t sub_system, uint8_t error_code)
sub_system : sub_system, sub_system : sub_system,
error_code : error_code, error_code : error_code,
}; };
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt)); logger.WriteCriticalBlock(&pkt, sizeof(pkt));
} }
// logs when baro or compass becomes unhealthy // logs when baro or compass becomes unhealthy
@ -276,11 +276,11 @@ void Sub::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target
vel_target_y : vel_target.y, vel_target_y : vel_target.y,
vel_target_z : vel_target.z vel_target_z : vel_target.z
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); logger.WriteBlock(&pkt, sizeof(pkt));
} }
// type and unit information can be found in // type and unit information can be found in
// libraries/DataFlash/Logstructure.h; search for "log_Units" for // libraries/AP_Logger/Logstructure.h; search for "log_Units" for
// units and "Format characters" for field type information // units and "Format characters" for field type information
const struct LogStructure Sub::log_structure[] = { const struct LogStructure Sub::log_structure[] = {
LOG_COMMON_STRUCTURES, LOG_COMMON_STRUCTURES,
@ -308,16 +308,16 @@ const struct LogStructure Sub::log_structure[] = {
void Sub::Log_Write_Vehicle_Startup_Messages() void Sub::Log_Write_Vehicle_Startup_Messages()
{ {
// only 200(?) bytes are guaranteed by DataFlash // only 200(?) bytes are guaranteed by AP_Logger
DataFlash.Log_Write_Mode(control_mode, control_mode_reason); logger.Log_Write_Mode(control_mode, control_mode_reason);
ahrs.Log_Write_Home_And_Origin(); ahrs.Log_Write_Home_And_Origin();
gps.Write_DataFlash_Log_Startup_messages(); gps.Write_AP_Logger_Log_Startup_messages();
} }
void Sub::log_init() void Sub::log_init()
{ {
DataFlash.Init(log_structure, ARRAY_SIZE(log_structure)); logger.Init(log_structure, ARRAY_SIZE(log_structure));
} }
#else // LOGGING_ENABLED #else // LOGGING_ENABLED

4
ArduSub/Parameters.cpp
View File

@ -482,8 +482,8 @@ const AP_Param::Info Sub::var_info[] = {
#endif #endif
// @Group: LOG // @Group: LOG
// @Path: ../libraries/DataFlash/DataFlash.cpp // @Path: ../libraries/AP_Logger/AP_Logger.cpp
GOBJECT(DataFlash, "LOG", DataFlash_Class), GOBJECT(logger, "LOG", AP_Logger),
// @Group: BATT // @Group: BATT
// @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp

2
ArduSub/Parameters.h
View File

@ -58,7 +58,7 @@ public:
// Hardware/Software configuration // Hardware/Software configuration
k_param_BoardConfig = 20, // Board configuration (PX4/Linux/etc) k_param_BoardConfig = 20, // Board configuration (PX4/Linux/etc)
k_param_scheduler, // Scheduler (for debugging/perf_info) k_param_scheduler, // Scheduler (for debugging/perf_info)
k_param_DataFlash, // DataFlash Logging k_param_logger, // AP_Logger Logging
k_param_serial_manager, // Serial ports, AP_SerialManager k_param_serial_manager, // Serial ports, AP_SerialManager
k_param_notify, // Notify Library, AP_Notify k_param_notify, // Notify Library, AP_Notify
k_param_arming = 26, // Arming checks k_param_arming = 26, // Arming checks

2
ArduSub/Sub.cpp
View File

@ -24,7 +24,7 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
constructor for main Sub class constructor for main Sub class
*/ */
Sub::Sub() Sub::Sub()
: DataFlash(g.log_bitmask), : logger(g.log_bitmask),
control_mode(MANUAL), control_mode(MANUAL),
motors(MAIN_LOOP_RATE), motors(MAIN_LOOP_RATE),
scaleLongDown(1), scaleLongDown(1),

4
ArduSub/Sub.h
View File

@ -40,7 +40,7 @@
// Application dependencies // Application dependencies
#include <AP_SerialManager/AP_SerialManager.h> // Serial manager library #include <AP_SerialManager/AP_SerialManager.h> // Serial manager library
#include <AP_GPS/AP_GPS.h> // ArduPilot GPS library #include <AP_GPS/AP_GPS.h> // ArduPilot GPS library
#include <DataFlash/DataFlash.h> // ArduPilot Mega Flash Memory Library #include <AP_Logger/AP_Logger.h> // ArduPilot Mega Flash Memory Library
#include <AP_Baro/AP_Baro.h> #include <AP_Baro/AP_Baro.h>
#include <AP_Compass/AP_Compass.h> // ArduPilot Mega Magnetometer Library #include <AP_Compass/AP_Compass.h> // ArduPilot Mega Magnetometer Library
#include <AP_InertialSensor/AP_InertialSensor.h> // ArduPilot Mega Inertial Sensor (accel & gyro) Library #include <AP_InertialSensor/AP_InertialSensor.h> // ArduPilot Mega Inertial Sensor (accel & gyro) Library
@ -163,7 +163,7 @@ private:
RC_Channel *channel_lateral; RC_Channel *channel_lateral;
// Dataflash // Dataflash
DataFlash_Class DataFlash; AP_Logger logger;
AP_GPS gps; AP_GPS gps;

2
ArduSub/commands.cpp
View File

@ -78,7 +78,7 @@ bool Sub::set_home(const Location& loc, bool lock)
if (should_log(MASK_LOG_CMD)) { if (should_log(MASK_LOG_CMD)) {
AP_Mission::Mission_Command temp_cmd; AP_Mission::Mission_Command temp_cmd;
if (mission.read_cmd_from_storage(0, temp_cmd)) { if (mission.read_cmd_from_storage(0, temp_cmd)) {
DataFlash.Log_Write_Mission_Cmd(mission, temp_cmd); logger.Log_Write_Mission_Cmd(mission, temp_cmd);
} }
} }
} }

2
ArduSub/commands_logic.cpp
View File

@ -9,7 +9,7 @@ bool Sub::start_command(const AP_Mission::Mission_Command& cmd)
{ {
// To-Do: logging when new commands start/end // To-Do: logging when new commands start/end
if (should_log(MASK_LOG_CMD)) { if (should_log(MASK_LOG_CMD)) {
DataFlash.Log_Write_Mission_Cmd(mission, cmd); logger.Log_Write_Mission_Cmd(mission, cmd);
} }
const Location &target_loc = cmd.content.location; const Location &target_loc = cmd.content.location;

2
ArduSub/flight_mode.cpp
View File

@ -70,7 +70,7 @@ bool Sub::set_mode(control_mode_t mode, mode_reason_t reason)
control_mode = mode; control_mode = mode;
control_mode_reason = reason; control_mode_reason = reason;
DataFlash.Log_Write_Mode(control_mode, control_mode_reason); logger.Log_Write_Mode(control_mode, control_mode_reason);
// update notify object // update notify object
notify_flight_mode(control_mode); notify_flight_mode(control_mode);

6
ArduSub/motors.cpp
View File

@ -26,7 +26,7 @@ bool Sub::init_arm_motors(AP_Arming::ArmingMethod method)
} }
// let dataflash know that we're armed (it may open logs e.g.) // let dataflash know that we're armed (it may open logs e.g.)
DataFlash_Class::instance()->set_vehicle_armed(true); AP_Logger::instance()->set_vehicle_armed(true);
// disable cpu failsafe because initialising everything takes a while // disable cpu failsafe because initialising everything takes a while
mainloop_failsafe_disable(); mainloop_failsafe_disable();
@ -69,7 +69,7 @@ bool Sub::init_arm_motors(AP_Arming::ArmingMethod method)
Log_Write_Event(DATA_ARMED); Log_Write_Event(DATA_ARMED);
// log flight mode in case it was changed while vehicle was disarmed // log flight mode in case it was changed while vehicle was disarmed
DataFlash.Log_Write_Mode(control_mode, control_mode_reason); logger.Log_Write_Mode(control_mode, control_mode_reason);
// reenable failsafe // reenable failsafe
mainloop_failsafe_enable(); mainloop_failsafe_enable();
@ -115,7 +115,7 @@ void Sub::init_disarm_motors()
// reset the mission // reset the mission
mission.reset(); mission.reset();
DataFlash_Class::instance()->set_vehicle_armed(false); AP_Logger::instance()->set_vehicle_armed(false);
// disable gps velocity based centrefugal force compensation // disable gps velocity based centrefugal force compensation
ahrs.set_correct_centrifugal(false); ahrs.set_correct_centrifugal(false);

2
ArduSub/sensors.cpp
View File

@ -74,7 +74,7 @@ void Sub::rpm_update(void)
rpm_sensor.update(); rpm_sensor.update();
if (rpm_sensor.enabled(0) || rpm_sensor.enabled(1)) { if (rpm_sensor.enabled(0) || rpm_sensor.enabled(1)) {
if (should_log(MASK_LOG_RCIN)) { if (should_log(MASK_LOG_RCIN)) {
DataFlash.Log_Write_RPM(rpm_sensor); logger.Log_Write_RPM(rpm_sensor);
} }
} }
} }

8
ArduSub/system.cpp
View File

@ -185,9 +185,9 @@ void Sub::init_ardupilot()
// initialise mission library // initialise mission library
mission.init(); mission.init();
// initialise DataFlash library // initialise AP_Logger library
#if LOGGING_ENABLED == ENABLED #if LOGGING_ENABLED == ENABLED
DataFlash.setVehicle_Startup_Log_Writer(FUNCTOR_BIND(&sub, &Sub::Log_Write_Vehicle_Startup_Messages, void)); logger.setVehicle_Startup_Log_Writer(FUNCTOR_BIND(&sub, &Sub::Log_Write_Vehicle_Startup_Messages, void));
#endif #endif
startup_INS_ground(); startup_INS_ground();
@ -289,8 +289,8 @@ bool Sub::optflow_position_ok()
bool Sub::should_log(uint32_t mask) bool Sub::should_log(uint32_t mask)
{ {
#if LOGGING_ENABLED == ENABLED #if LOGGING_ENABLED == ENABLED
ap.logging_started = DataFlash.logging_started(); ap.logging_started = logger.logging_started();
return DataFlash.should_log(mask); return logger.should_log(mask);
#else #else
return false; return false;
#endif #endif

16
Tools/Replay/DataFlashFileReader.cpp
View File

@ -1,4 +1,4 @@
#include "DataFlashFileReader.h" #include "AP_LoggerFileReader.h"
#include <fcntl.h> #include <fcntl.h>
#include <string.h> #include <string.h>
@ -19,11 +19,11 @@ uint64_t now() {
return 1.0e6*((ts.tv_sec + (ts.tv_nsec*1.0e-9))); return 1.0e6*((ts.tv_sec + (ts.tv_nsec*1.0e-9)));
} }
DataFlashFileReader::DataFlashFileReader() : AP_LoggerFileReader::AP_LoggerFileReader() :
start_micros(now()) start_micros(now())
{} {}
DataFlashFileReader::~DataFlashFileReader() AP_LoggerFileReader::~AP_LoggerFileReader()
{ {
const uint64_t micros = now(); const uint64_t micros = now();
const uint64_t delta = micros - start_micros; const uint64_t delta = micros - start_micros;
@ -31,7 +31,7 @@ DataFlashFileReader::~DataFlashFileReader()
::printf("Replay rates: %" PRIu64 " bytes/second %" PRIu64 " messages/second\n", bytes_read*1000000/delta, message_count*1000000/delta); ::printf("Replay rates: %" PRIu64 " bytes/second %" PRIu64 " messages/second\n", bytes_read*1000000/delta, message_count*1000000/delta);
} }
bool DataFlashFileReader::open_log(const char *logfile) bool AP_LoggerFileReader::open_log(const char *logfile)
{ {
fd = ::open(logfile, O_RDONLY|O_CLOEXEC); fd = ::open(logfile, O_RDONLY|O_CLOEXEC);
if (fd == -1) { if (fd == -1) {
@ -40,14 +40,14 @@ bool DataFlashFileReader::open_log(const char *logfile)
return true; return true;
} }
ssize_t DataFlashFileReader::read_input(void *buffer, const size_t count) ssize_t AP_LoggerFileReader::read_input(void *buffer, const size_t count)
{ {
uint64_t ret = ::read(fd, buffer, count); uint64_t ret = ::read(fd, buffer, count);
bytes_read += ret; bytes_read += ret;
return ret; return ret;
} }
void DataFlashFileReader::format_type(uint16_t type, char dest[5]) void AP_LoggerFileReader::format_type(uint16_t type, char dest[5])
{ {
const struct log_Format &f = formats[type]; const struct log_Format &f = formats[type];
memset(dest,0,5); memset(dest,0,5);
@ -56,12 +56,12 @@ void DataFlashFileReader::format_type(uint16_t type, char dest[5])
} }
strncpy(dest, f.name, 4); strncpy(dest, f.name, 4);
} }
void DataFlashFileReader::get_packet_counts(uint64_t dest[]) void AP_LoggerFileReader::get_packet_counts(uint64_t dest[])
{ {
memcpy(dest, packet_counts, sizeof(packet_counts)); memcpy(dest, packet_counts, sizeof(packet_counts));
} }
bool DataFlashFileReader::update(char type[5]) bool AP_LoggerFileReader::update(char type[5])
{ {
uint8_t hdr[3]; uint8_t hdr[3];
if (read_input(hdr, 3) != 3) { if (read_input(hdr, 3) != 3) {

8
Tools/Replay/DataFlashFileReader.h
View File

@ -1,15 +1,15 @@
#pragma once #pragma once
#include <DataFlash/DataFlash.h> #include <AP_Logger/AP_Logger.h>
#define LOGREADER_MAX_FORMATS 255 // must be >= highest MESSAGE #define LOGREADER_MAX_FORMATS 255 // must be >= highest MESSAGE
class DataFlashFileReader class AP_LoggerFileReader
{ {
public: public:
DataFlashFileReader(); AP_LoggerFileReader();
~DataFlashFileReader(); ~AP_LoggerFileReader();
bool open_log(const char *logfile); bool open_log(const char *logfile);
bool update(char type[5]); bool update(char type[5]);

6
Tools/Replay/LR_MsgHandler.cpp
View File

@ -5,7 +5,7 @@
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
LR_MsgHandler::LR_MsgHandler(struct log_Format &_f, LR_MsgHandler::LR_MsgHandler(struct log_Format &_f,
DataFlash_Class &_dataflash, AP_Logger &_dataflash,
uint64_t &_last_timestamp_usec) : uint64_t &_last_timestamp_usec) :
dataflash(_dataflash), last_timestamp_usec(_last_timestamp_usec), dataflash(_dataflash), last_timestamp_usec(_last_timestamp_usec),
MsgHandler(_f) { MsgHandler(_f) {
@ -406,8 +406,8 @@ void LR_MsgHandler_PARM::process_message(uint8_t *msg)
} else { } else {
// older logs can have a lot of FMT and PARM messages up the // older logs can have a lot of FMT and PARM messages up the
// front which don't have timestamps. Since in Replay we run // front which don't have timestamps. Since in Replay we run
// DataFlash's IO only when stop_clock is called, we can // AP_Logger's IO only when stop_clock is called, we can
// overflow DataFlash's ringbuffer. This should force us to // overflow AP_Logger's ringbuffer. This should force us to
// do IO: // do IO:
hal.scheduler->stop_clock(last_timestamp_usec); hal.scheduler->stop_clock(last_timestamp_usec);
} }

64
Tools/Replay/LR_MsgHandler.h
View File

@ -7,7 +7,7 @@
class LR_MsgHandler : public MsgHandler { class LR_MsgHandler : public MsgHandler {
public: public:
LR_MsgHandler(struct log_Format &f, LR_MsgHandler(struct log_Format &f,
DataFlash_Class &_dataflash, AP_Logger &_dataflash,
uint64_t &last_timestamp_usec); uint64_t &last_timestamp_usec);
virtual void process_message(uint8_t *msg) = 0; virtual void process_message(uint8_t *msg) = 0;
@ -20,7 +20,7 @@ public:
}; };
protected: protected:
DataFlash_Class &dataflash; AP_Logger &dataflash;
void wait_timestamp(uint32_t timestamp); void wait_timestamp(uint32_t timestamp);
void wait_timestamp_usec(uint64_t timestamp); void wait_timestamp_usec(uint64_t timestamp);
void wait_timestamp_from_msg(uint8_t *msg); void wait_timestamp_from_msg(uint8_t *msg);
@ -34,7 +34,7 @@ protected:
class LR_MsgHandler_AHR2 : public LR_MsgHandler class LR_MsgHandler_AHR2 : public LR_MsgHandler
{ {
public: public:
LR_MsgHandler_AHR2(log_Format &_f, DataFlash_Class &_dataflash, LR_MsgHandler_AHR2(log_Format &_f, AP_Logger &_dataflash,
uint64_t &_last_timestamp_usec, Vector3f &_ahr2_attitude) uint64_t &_last_timestamp_usec, Vector3f &_ahr2_attitude)
: LR_MsgHandler(_f, _dataflash,_last_timestamp_usec), : LR_MsgHandler(_f, _dataflash,_last_timestamp_usec),
ahr2_attitude(_ahr2_attitude) { }; ahr2_attitude(_ahr2_attitude) { };
@ -49,7 +49,7 @@ private:
class LR_MsgHandler_ARM : public LR_MsgHandler class LR_MsgHandler_ARM : public LR_MsgHandler
{ {
public: public:
LR_MsgHandler_ARM(log_Format &_f, DataFlash_Class &_dataflash, LR_MsgHandler_ARM(log_Format &_f, AP_Logger &_dataflash,
uint64_t &_last_timestamp_usec) uint64_t &_last_timestamp_usec)
: LR_MsgHandler(_f, _dataflash, _last_timestamp_usec) { }; : LR_MsgHandler(_f, _dataflash, _last_timestamp_usec) { };
@ -60,7 +60,7 @@ public:
class LR_MsgHandler_ARSP : public LR_MsgHandler class LR_MsgHandler_ARSP : public LR_MsgHandler
{ {
public: public:
LR_MsgHandler_ARSP(log_Format &_f, DataFlash_Class &_dataflash, LR_MsgHandler_ARSP(log_Format &_f, AP_Logger &_dataflash,
uint64_t &_last_timestamp_usec, AP_Airspeed &_airspeed) : uint64_t &_last_timestamp_usec, AP_Airspeed &_airspeed) :
LR_MsgHandler(_f, _dataflash, _last_timestamp_usec), airspeed(_airspeed) { }; LR_MsgHandler(_f, _dataflash, _last_timestamp_usec), airspeed(_airspeed) { };
@ -73,7 +73,7 @@ private:
class LR_MsgHandler_NKF1 : public LR_MsgHandler class LR_MsgHandler_NKF1 : public LR_MsgHandler
{ {
public: public:
LR_MsgHandler_NKF1(log_Format &_f, DataFlash_Class &_dataflash, LR_MsgHandler_NKF1(log_Format &_f, AP_Logger &_dataflash,
uint64_t &_last_timestamp_usec) : uint64_t &_last_timestamp_usec) :
LR_MsgHandler(_f, _dataflash, _last_timestamp_usec) { }; LR_MsgHandler(_f, _dataflash, _last_timestamp_usec) { };
@ -84,7 +84,7 @@ public:
class LR_MsgHandler_ATT : public LR_MsgHandler class LR_MsgHandler_ATT : public LR_MsgHandler
{ {
public: public:
LR_MsgHandler_ATT(log_Format &_f, DataFlash_Class &_dataflash, LR_MsgHandler_ATT(log_Format &_f, AP_Logger &_dataflash,
uint64_t &_last_timestamp_usec, Vector3f &_attitude) uint64_t &_last_timestamp_usec, Vector3f &_attitude)
: LR_MsgHandler(_f, _dataflash, _last_timestamp_usec), attitude(_attitude) : LR_MsgHandler(_f, _dataflash, _last_timestamp_usec), attitude(_attitude)
{ }; { };
@ -98,7 +98,7 @@ private:
class LR_MsgHandler_CHEK : public LR_MsgHandler class LR_MsgHandler_CHEK : public LR_MsgHandler
{ {
public: public:
LR_MsgHandler_CHEK(log_Format &_f, DataFlash_Class &_dataflash, LR_MsgHandler_CHEK(log_Format &_f, AP_Logger &_dataflash,
uint64_t &_last_timestamp_usec, CheckState &_check_state) uint64_t &_last_timestamp_usec, CheckState &_check_state)
: LR_MsgHandler(_f, _dataflash, _last_timestamp_usec), : LR_MsgHandler(_f, _dataflash, _last_timestamp_usec),
check_state(_check_state) check_state(_check_state)
@ -112,7 +112,7 @@ private:
class LR_MsgHandler_BARO : public LR_MsgHandler class LR_MsgHandler_BARO : public LR_MsgHandler
{ {
public: public:
LR_MsgHandler_BARO(log_Format &_f, DataFlash_Class &_dataflash, LR_MsgHandler_BARO(log_Format &_f, AP_Logger &_dataflash,
uint64_t &_last_timestamp_usec) uint64_t &_last_timestamp_usec)
: LR_MsgHandler(_f, _dataflash, _last_timestamp_usec) : LR_MsgHandler(_f, _dataflash, _last_timestamp_usec)
{ }; { };
@ -125,7 +125,7 @@ public:
class LR_MsgHandler_Event : public LR_MsgHandler class LR_MsgHandler_Event : public LR_MsgHandler
{ {
public: public:
LR_MsgHandler_Event(log_Format &_f, DataFlash_Class &_dataflash, LR_MsgHandler_Event(log_Format &_f, AP_Logger &_dataflash,
uint64_t &_last_timestamp_usec) uint64_t &_last_timestamp_usec)
: LR_MsgHandler(_f, _dataflash, _last_timestamp_usec) { }; : LR_MsgHandler(_f, _dataflash, _last_timestamp_usec) { };
@ -139,7 +139,7 @@ class LR_MsgHandler_GPS_Base : public LR_MsgHandler
{ {
public: public:
LR_MsgHandler_GPS_Base(log_Format &_f, DataFlash_Class &_dataflash, LR_MsgHandler_GPS_Base(log_Format &_f, AP_Logger &_dataflash,
uint64_t &_last_timestamp_usec, AP_GPS &_gps, uint64_t &_last_timestamp_usec, AP_GPS &_gps,
uint32_t &_ground_alt_cm) uint32_t &_ground_alt_cm)
: LR_MsgHandler(_f, _dataflash, _last_timestamp_usec), : LR_MsgHandler(_f, _dataflash, _last_timestamp_usec),
@ -156,7 +156,7 @@ private:
class LR_MsgHandler_GPS : public LR_MsgHandler_GPS_Base class LR_MsgHandler_GPS : public LR_MsgHandler_GPS_Base
{ {
public: public:
LR_MsgHandler_GPS(log_Format &_f, DataFlash_Class &_dataflash, LR_MsgHandler_GPS(log_Format &_f, AP_Logger &_dataflash,
uint64_t &_last_timestamp_usec, AP_GPS &_gps, uint64_t &_last_timestamp_usec, AP_GPS &_gps,
uint32_t &_ground_alt_cm) uint32_t &_ground_alt_cm)
: LR_MsgHandler_GPS_Base(_f, _dataflash,_last_timestamp_usec, : LR_MsgHandler_GPS_Base(_f, _dataflash,_last_timestamp_usec,
@ -177,7 +177,7 @@ private:
class LR_MsgHandler_GPS2 : public LR_MsgHandler_GPS_Base class LR_MsgHandler_GPS2 : public LR_MsgHandler_GPS_Base
{ {
public: public:
LR_MsgHandler_GPS2(log_Format &_f, DataFlash_Class &_dataflash, LR_MsgHandler_GPS2(log_Format &_f, AP_Logger &_dataflash,
uint64_t &_last_timestamp_usec, AP_GPS &_gps, uint64_t &_last_timestamp_usec, AP_GPS &_gps,
uint32_t &_ground_alt_cm) uint32_t &_ground_alt_cm)
: LR_MsgHandler_GPS_Base(_f, _dataflash, _last_timestamp_usec, : LR_MsgHandler_GPS_Base(_f, _dataflash, _last_timestamp_usec,
@ -193,7 +193,7 @@ class LR_MsgHandler_GPA_Base : public LR_MsgHandler
{ {
public: public:
LR_MsgHandler_GPA_Base(log_Format &_f, DataFlash_Class &_dataflash, LR_MsgHandler_GPA_Base(log_Format &_f, AP_Logger &_dataflash,
uint64_t &_last_timestamp_usec, AP_GPS &_gps) uint64_t &_last_timestamp_usec, AP_GPS &_gps)
: LR_MsgHandler(_f, _dataflash, _last_timestamp_usec), gps(_gps) { }; : LR_MsgHandler(_f, _dataflash, _last_timestamp_usec), gps(_gps) { };
@ -208,7 +208,7 @@ private:
class LR_MsgHandler_GPA : public LR_MsgHandler_GPA_Base class LR_MsgHandler_GPA : public LR_MsgHandler_GPA_Base
{ {
public: public:
LR_MsgHandler_GPA(log_Format &_f, DataFlash_Class &_dataflash, LR_MsgHandler_GPA(log_Format &_f, AP_Logger &_dataflash,
uint64_t &_last_timestamp_usec, AP_GPS &_gps) uint64_t &_last_timestamp_usec, AP_GPS &_gps)
: LR_MsgHandler_GPA_Base(_f, _dataflash,_last_timestamp_usec, : LR_MsgHandler_GPA_Base(_f, _dataflash,_last_timestamp_usec,
_gps), gps(_gps) { }; _gps), gps(_gps) { };
@ -222,7 +222,7 @@ private:
class LR_MsgHandler_GPA2 : public LR_MsgHandler_GPA_Base class LR_MsgHandler_GPA2 : public LR_MsgHandler_GPA_Base
{ {
public: public:
LR_MsgHandler_GPA2(log_Format &_f, DataFlash_Class &_dataflash, LR_MsgHandler_GPA2(log_Format &_f, AP_Logger &_dataflash,
uint64_t &_last_timestamp_usec, AP_GPS &_gps) uint64_t &_last_timestamp_usec, AP_GPS &_gps)
: LR_MsgHandler_GPA_Base(_f, _dataflash, _last_timestamp_usec, : LR_MsgHandler_GPA_Base(_f, _dataflash, _last_timestamp_usec,
_gps), gps(_gps) { }; _gps), gps(_gps) { };
@ -238,7 +238,7 @@ private:
class LR_MsgHandler_IMU_Base : public LR_MsgHandler class LR_MsgHandler_IMU_Base : public LR_MsgHandler
{ {
public: public:
LR_MsgHandler_IMU_Base(log_Format &_f, DataFlash_Class &_dataflash, LR_MsgHandler_IMU_Base(log_Format &_f, AP_Logger &_dataflash,
uint64_t &_last_timestamp_usec, uint64_t &_last_timestamp_usec,
uint8_t &_accel_mask, uint8_t &_gyro_mask, uint8_t &_accel_mask, uint8_t &_gyro_mask,
AP_InertialSensor &_ins) : AP_InertialSensor &_ins) :
@ -257,7 +257,7 @@ private:
class LR_MsgHandler_IMU : public LR_MsgHandler_IMU_Base class LR_MsgHandler_IMU : public LR_MsgHandler_IMU_Base
{ {
public: public:
LR_MsgHandler_IMU(log_Format &_f, DataFlash_Class &_dataflash, LR_MsgHandler_IMU(log_Format &_f, AP_Logger &_dataflash,
uint64_t &_last_timestamp_usec, uint64_t &_last_timestamp_usec,
uint8_t &_accel_mask, uint8_t &_gyro_mask, uint8_t &_accel_mask, uint8_t &_gyro_mask,
AP_InertialSensor &_ins) AP_InertialSensor &_ins)
@ -270,7 +270,7 @@ public:
class LR_MsgHandler_IMU2 : public LR_MsgHandler_IMU_Base class LR_MsgHandler_IMU2 : public LR_MsgHandler_IMU_Base
{ {
public: public:
LR_MsgHandler_IMU2(log_Format &_f, DataFlash_Class &_dataflash, LR_MsgHandler_IMU2(log_Format &_f, AP_Logger &_dataflash,
uint64_t &_last_timestamp_usec, uint64_t &_last_timestamp_usec,
uint8_t &_accel_mask, uint8_t &_gyro_mask, uint8_t &_accel_mask, uint8_t &_gyro_mask,
AP_InertialSensor &_ins) AP_InertialSensor &_ins)
@ -283,7 +283,7 @@ public:
class LR_MsgHandler_IMU3 : public LR_MsgHandler_IMU_Base class LR_MsgHandler_IMU3 : public LR_MsgHandler_IMU_Base
{ {
public: public:
LR_MsgHandler_IMU3(log_Format &_f, DataFlash_Class &_dataflash, LR_MsgHandler_IMU3(log_Format &_f, AP_Logger &_dataflash,
uint64_t &_last_timestamp_usec, uint64_t &_last_timestamp_usec,
uint8_t &_accel_mask, uint8_t &_gyro_mask, uint8_t &_accel_mask, uint8_t &_gyro_mask,
AP_InertialSensor &_ins) AP_InertialSensor &_ins)
@ -297,7 +297,7 @@ public:
class LR_MsgHandler_IMT_Base : public LR_MsgHandler class LR_MsgHandler_IMT_Base : public LR_MsgHandler
{ {
public: public:
LR_MsgHandler_IMT_Base(log_Format &_f, DataFlash_Class &_dataflash, LR_MsgHandler_IMT_Base(log_Format &_f, AP_Logger &_dataflash,
uint64_t &_last_timestamp_usec, uint64_t &_last_timestamp_usec,
uint8_t &_accel_mask, uint8_t &_gyro_mask, uint8_t &_accel_mask, uint8_t &_gyro_mask,
bool &_use_imt, bool &_use_imt,
@ -319,7 +319,7 @@ private:
class LR_MsgHandler_IMT : public LR_MsgHandler_IMT_Base class LR_MsgHandler_IMT : public LR_MsgHandler_IMT_Base
{ {
public: public:
LR_MsgHandler_IMT(log_Format &_f, DataFlash_Class &_dataflash, LR_MsgHandler_IMT(log_Format &_f, AP_Logger &_dataflash,
uint64_t &_last_timestamp_usec, uint64_t &_last_timestamp_usec,
uint8_t &_accel_mask, uint8_t &_gyro_mask, uint8_t &_accel_mask, uint8_t &_gyro_mask,
bool &_use_imt, bool &_use_imt,
@ -333,7 +333,7 @@ public:
class LR_MsgHandler_IMT2 : public LR_MsgHandler_IMT_Base class LR_MsgHandler_IMT2 : public LR_MsgHandler_IMT_Base
{ {
public: public:
LR_MsgHandler_IMT2(log_Format &_f, DataFlash_Class &_dataflash, LR_MsgHandler_IMT2(log_Format &_f, AP_Logger &_dataflash,
uint64_t &_last_timestamp_usec, uint64_t &_last_timestamp_usec,
uint8_t &_accel_mask, uint8_t &_gyro_mask, uint8_t &_accel_mask, uint8_t &_gyro_mask,
bool &_use_imt, bool &_use_imt,
@ -347,7 +347,7 @@ public:
class LR_MsgHandler_IMT3 : public LR_MsgHandler_IMT_Base class LR_MsgHandler_IMT3 : public LR_MsgHandler_IMT_Base
{ {
public: public:
LR_MsgHandler_IMT3(log_Format &_f, DataFlash_Class &_dataflash, LR_MsgHandler_IMT3(log_Format &_f, AP_Logger &_dataflash,
uint64_t &_last_timestamp_usec, uint64_t &_last_timestamp_usec,
uint8_t &_accel_mask, uint8_t &_gyro_mask, uint8_t &_accel_mask, uint8_t &_gyro_mask,
bool &_use_imt, bool &_use_imt,
@ -362,7 +362,7 @@ public:
class LR_MsgHandler_MAG_Base : public LR_MsgHandler class LR_MsgHandler_MAG_Base : public LR_MsgHandler
{ {
public: public:
LR_MsgHandler_MAG_Base(log_Format &_f, DataFlash_Class &_dataflash, LR_MsgHandler_MAG_Base(log_Format &_f, AP_Logger &_dataflash,
uint64_t &_last_timestamp_usec, Compass &_compass) uint64_t &_last_timestamp_usec, Compass &_compass)
: LR_MsgHandler(_f, _dataflash, _last_timestamp_usec), compass(_compass) { }; : LR_MsgHandler(_f, _dataflash, _last_timestamp_usec), compass(_compass) { };
@ -376,7 +376,7 @@ private:
class LR_MsgHandler_MAG : public LR_MsgHandler_MAG_Base class LR_MsgHandler_MAG : public LR_MsgHandler_MAG_Base
{ {
public: public:
LR_MsgHandler_MAG(log_Format &_f, DataFlash_Class &_dataflash, LR_MsgHandler_MAG(log_Format &_f, AP_Logger &_dataflash,
uint64_t &_last_timestamp_usec, Compass &_compass) uint64_t &_last_timestamp_usec, Compass &_compass)
: LR_MsgHandler_MAG_Base(_f, _dataflash, _last_timestamp_usec,_compass) {}; : LR_MsgHandler_MAG_Base(_f, _dataflash, _last_timestamp_usec,_compass) {};
@ -386,7 +386,7 @@ public:
class LR_MsgHandler_MAG2 : public LR_MsgHandler_MAG_Base class LR_MsgHandler_MAG2 : public LR_MsgHandler_MAG_Base
{ {
public: public:
LR_MsgHandler_MAG2(log_Format &_f, DataFlash_Class &_dataflash, LR_MsgHandler_MAG2(log_Format &_f, AP_Logger &_dataflash,
uint64_t &_last_timestamp_usec, Compass &_compass) uint64_t &_last_timestamp_usec, Compass &_compass)
: LR_MsgHandler_MAG_Base(_f, _dataflash, _last_timestamp_usec,_compass) {}; : LR_MsgHandler_MAG_Base(_f, _dataflash, _last_timestamp_usec,_compass) {};
@ -398,7 +398,7 @@ public:
class LR_MsgHandler_MSG : public LR_MsgHandler class LR_MsgHandler_MSG : public LR_MsgHandler
{ {
public: public:
LR_MsgHandler_MSG(log_Format &_f, DataFlash_Class &_dataflash, LR_MsgHandler_MSG(log_Format &_f, AP_Logger &_dataflash,
uint64_t &_last_timestamp_usec, uint64_t &_last_timestamp_usec,
VehicleType::vehicle_type &_vehicle, AP_AHRS &_ahrs) : VehicleType::vehicle_type &_vehicle, AP_AHRS &_ahrs) :
LR_MsgHandler(_f, _dataflash, _last_timestamp_usec), LR_MsgHandler(_f, _dataflash, _last_timestamp_usec),
@ -416,7 +416,7 @@ private:
class LR_MsgHandler_NTUN_Copter : public LR_MsgHandler class LR_MsgHandler_NTUN_Copter : public LR_MsgHandler
{ {
public: public:
LR_MsgHandler_NTUN_Copter(log_Format &_f, DataFlash_Class &_dataflash, LR_MsgHandler_NTUN_Copter(log_Format &_f, AP_Logger &_dataflash,
uint64_t &_last_timestamp_usec, Vector3f &_inavpos) uint64_t &_last_timestamp_usec, Vector3f &_inavpos)
: LR_MsgHandler(_f, _dataflash, _last_timestamp_usec), inavpos(_inavpos) {}; : LR_MsgHandler(_f, _dataflash, _last_timestamp_usec), inavpos(_inavpos) {};
@ -430,7 +430,7 @@ private:
class LR_MsgHandler_PARM : public LR_MsgHandler class LR_MsgHandler_PARM : public LR_MsgHandler
{ {
public: public:
LR_MsgHandler_PARM(log_Format &_f, DataFlash_Class &_dataflash, LR_MsgHandler_PARM(log_Format &_f, AP_Logger &_dataflash,
uint64_t &_last_timestamp_usec, uint64_t &_last_timestamp_usec,
const std::function<bool(const char *name, const float)>&set_parameter_callback) : const std::function<bool(const char *name, const float)>&set_parameter_callback) :
LR_MsgHandler(_f, _dataflash, _last_timestamp_usec), LR_MsgHandler(_f, _dataflash, _last_timestamp_usec),
@ -447,7 +447,7 @@ private:
class LR_MsgHandler_PM : public LR_MsgHandler class LR_MsgHandler_PM : public LR_MsgHandler
{ {
public: public:
LR_MsgHandler_PM(log_Format &_f, DataFlash_Class &_dataflash, LR_MsgHandler_PM(log_Format &_f, AP_Logger &_dataflash,
uint64_t &_last_timestamp_usec) uint64_t &_last_timestamp_usec)
: LR_MsgHandler(_f, _dataflash, _last_timestamp_usec) { }; : LR_MsgHandler(_f, _dataflash, _last_timestamp_usec) { };
@ -460,7 +460,7 @@ private:
class LR_MsgHandler_SIM : public LR_MsgHandler class LR_MsgHandler_SIM : public LR_MsgHandler
{ {
public: public:
LR_MsgHandler_SIM(log_Format &_f, DataFlash_Class &_dataflash, LR_MsgHandler_SIM(log_Format &_f, AP_Logger &_dataflash,
uint64_t &_last_timestamp_usec, uint64_t &_last_timestamp_usec,
Vector3f &_sim_attitude) Vector3f &_sim_attitude)
: LR_MsgHandler(_f, _dataflash, _last_timestamp_usec), : LR_MsgHandler(_f, _dataflash, _last_timestamp_usec),

10
Tools/Replay/LogReader.cpp
View File

@ -7,7 +7,7 @@
#include <AP_Compass/AP_Compass.h> #include <AP_Compass/AP_Compass.h>
#include <AP_Baro/AP_Baro.h> #include <AP_Baro/AP_Baro.h>
#include <AP_InertialSensor/AP_InertialSensor.h> #include <AP_InertialSensor/AP_InertialSensor.h>
#include <DataFlash/DataFlash.h> #include <AP_Logger/AP_Logger.h>
#include "LogReader.h" #include "LogReader.h"
#include <stdio.h> #include <stdio.h>
@ -38,11 +38,11 @@ LogReader::LogReader(AP_AHRS &_ahrs,
Compass &_compass, Compass &_compass,
AP_GPS &_gps, AP_GPS &_gps,
AP_Airspeed &_airspeed, AP_Airspeed &_airspeed,
DataFlash_Class &_dataflash, AP_Logger &_dataflash,
struct LogStructure *log_structure, struct LogStructure *log_structure,
uint8_t log_structure_count, uint8_t log_structure_count,
const char **&_nottypes): const char **&_nottypes):
DataFlashFileReader(), AP_LoggerFileReader(),
vehicle(VehicleType::VEHICLE_UNKNOWN), vehicle(VehicleType::VEHICLE_UNKNOWN),
ahrs(_ahrs), ahrs(_ahrs),
ins(_ins), ins(_ins),
@ -214,7 +214,7 @@ uint8_t LogReader::map_fmt_type(const char *name, uint8_t intype)
if (already_mapped) { if (already_mapped) {
continue; continue;
} }
if (DataFlash_Class::instance()->msg_type_in_use(n)) { if (AP_Logger::instance()->msg_type_in_use(n)) {
continue; continue;
} }
mapped_msgid[intype] = n; mapped_msgid[intype] = n;
@ -277,7 +277,7 @@ bool LogReader::handle_log_format_msg(const struct log_Format &f)
s.labels = f.labels; s.labels = f.labels;
} }
// emit the FMT to DataFlash: // emit the FMT to AP_Logger:
struct log_Format pkt {}; struct log_Format pkt {};
pkt.head1 = HEAD_BYTE1; pkt.head1 = HEAD_BYTE1;
pkt.head2 = HEAD_BYTE2; pkt.head2 = HEAD_BYTE2;

8
Tools/Replay/LogReader.h
View File

@ -1,9 +1,9 @@
#include "VehicleType.h" #include "VehicleType.h"
#include "DataFlashFileReader.h" #include "AP_LoggerFileReader.h"
#include "LR_MsgHandler.h" #include "LR_MsgHandler.h"
#include "Parameters.h" #include "Parameters.h"
class LogReader : public DataFlashFileReader class LogReader : public AP_LoggerFileReader
{ {
public: public:
LogReader(AP_AHRS &_ahrs, LogReader(AP_AHRS &_ahrs,
@ -11,7 +11,7 @@ public:
Compass &_compass, Compass &_compass,
AP_GPS &_gps, AP_GPS &_gps,
AP_Airspeed &_airspeed, AP_Airspeed &_airspeed,
DataFlash_Class &_dataflash, AP_Logger &_dataflash,
struct LogStructure *log_structure, struct LogStructure *log_structure,
uint8_t log_structure_count, uint8_t log_structure_count,
const char **&nottypes); const char **&nottypes);
@ -47,7 +47,7 @@ private:
Compass &compass; Compass &compass;
AP_GPS &gps; AP_GPS &gps;
AP_Airspeed &airspeed; AP_Airspeed &airspeed;
DataFlash_Class &dataflash; AP_Logger &dataflash;
struct LogStructure *_log_structure; struct LogStructure *_log_structure;
uint8_t _log_structure_count; uint8_t _log_structure_count;

2
Tools/Replay/MsgHandler.h
View File

@ -1,6 +1,6 @@
#pragma once #pragma once
#include <DataFlash/DataFlash.h> #include <AP_Logger/AP_Logger.h>
#include "VehicleType.h" #include "VehicleType.h"
#include <stdio.h> #include <stdio.h>

8
Tools/Replay/Replay.cpp
View File

@ -25,7 +25,7 @@
#endif #endif
#include "LogReader.h" #include "LogReader.h"
#include "DataFlashFileReader.h" #include "AP_LoggerFileReader.h"
#include "Replay.h" #include "Replay.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
@ -74,8 +74,8 @@ const AP_Param::Info ReplayVehicle::var_info[] = {
GOBJECT(compass, "COMPASS_", Compass), GOBJECT(compass, "COMPASS_", Compass),
// @Group: LOG // @Group: LOG
// @Path: ../libraries/DataFlash/DataFlash.cpp // @Path: ../libraries/AP_Logger/AP_Logger.cpp
GOBJECT(dataflash, "LOG", DataFlash_Class), GOBJECT(dataflash, "LOG", AP_Logger),
// @Group: EK3_ // @Group: EK3_
// @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp // @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
@ -326,7 +326,7 @@ void Replay::_parse_command_line(uint8_t argc, char * const argv[])
} }
} }
class IMUCounter : public DataFlashFileReader { class IMUCounter : public AP_LoggerFileReader {
public: public:
IMUCounter() {} IMUCounter() {}
bool handle_log_format_msg(const struct log_Format &f); bool handle_log_format_msg(const struct log_Format &f);

4
Tools/Replay/Replay.h
View File

@ -26,7 +26,7 @@
#include <AP_Airspeed/AP_Airspeed.h> #include <AP_Airspeed/AP_Airspeed.h>
#include <AP_Vehicle/AP_Vehicle.h> #include <AP_Vehicle/AP_Vehicle.h>
#include <AP_Notify/AP_Notify.h> #include <AP_Notify/AP_Notify.h>
#include <DataFlash/DataFlash.h> #include <AP_Logger/AP_Logger.h>
#include <GCS_MAVLink/GCS_MAVLink.h> #include <GCS_MAVLink/GCS_MAVLink.h>
#include <AP_GPS/AP_GPS.h> #include <AP_GPS/AP_GPS.h>
#include <AP_AHRS/AP_AHRS.h> #include <AP_AHRS/AP_AHRS.h>
@ -69,7 +69,7 @@ public:
AP_Int32 unused; // logging is magic for Replay; this is unused AP_Int32 unused; // logging is magic for Replay; this is unused
struct LogStructure log_structure[256] = { struct LogStructure log_structure[256] = {
}; };
DataFlash_Class dataflash{unused}; AP_Logger dataflash{unused};
private: private:
Parameters g; Parameters g;

4
libraries/AC_AttitudeControl/AC_PosControl.cpp
View File

@ -1,7 +1,7 @@
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include "AC_PosControl.h" #include "AC_PosControl.h"
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include <DataFlash/DataFlash.h> #include <AP_Logger/AP_Logger.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -838,7 +838,7 @@ void AC_PosControl::write_log()
float accel_x, accel_y; float accel_x, accel_y;
lean_angles_to_accel(accel_x, accel_y); lean_angles_to_accel(accel_x, accel_y);
DataFlash_Class::instance()->Log_Write("PSC", "TimeUS,TPX,TPY,PX,PY,TVX,TVY,VX,VY,TAX,TAY,AX,AY", AP_Logger::instance()->Log_Write("PSC", "TimeUS,TPX,TPY,PX,PY,TVX,TVY,VX,VY,TAX,TAY,AX,AY",
"smmmmnnnnoooo", "FBBBBBBBBBBBB", "Qffffffffffff", "smmmmnnnnoooo", "FBBBBBBBBBBBB", "Qffffffffffff",
AP_HAL::micros64(), AP_HAL::micros64(),
(double)pos_target.x, (double)pos_target.x,

8
libraries/AC_AttitudeControl/ControlMonitor.cpp
View File

@ -24,15 +24,15 @@ void AC_AttitudeControl::control_monitor_filter_pid(float value, float &rms)
*/ */
void AC_AttitudeControl::control_monitor_update(void) void AC_AttitudeControl::control_monitor_update(void)
{ {
const DataFlash_Class::PID_Info &iroll = get_rate_roll_pid().get_pid_info(); const AP_Logger::PID_Info &iroll = get_rate_roll_pid().get_pid_info();
control_monitor_filter_pid(iroll.P + iroll.FF, _control_monitor.rms_roll_P); control_monitor_filter_pid(iroll.P + iroll.FF, _control_monitor.rms_roll_P);
control_monitor_filter_pid(iroll.D, _control_monitor.rms_roll_D); control_monitor_filter_pid(iroll.D, _control_monitor.rms_roll_D);
const DataFlash_Class::PID_Info &ipitch = get_rate_pitch_pid().get_pid_info(); const AP_Logger::PID_Info &ipitch = get_rate_pitch_pid().get_pid_info();
control_monitor_filter_pid(ipitch.P + iroll.FF, _control_monitor.rms_pitch_P); control_monitor_filter_pid(ipitch.P + iroll.FF, _control_monitor.rms_pitch_P);
control_monitor_filter_pid(ipitch.D, _control_monitor.rms_pitch_D); control_monitor_filter_pid(ipitch.D, _control_monitor.rms_pitch_D);
const DataFlash_Class::PID_Info &iyaw = get_rate_yaw_pid().get_pid_info(); const AP_Logger::PID_Info &iyaw = get_rate_yaw_pid().get_pid_info();
control_monitor_filter_pid(iyaw.P + iyaw.D + iyaw.FF, _control_monitor.rms_yaw); control_monitor_filter_pid(iyaw.P + iyaw.D + iyaw.FF, _control_monitor.rms_yaw);
} }
@ -41,7 +41,7 @@ void AC_AttitudeControl::control_monitor_update(void)
*/ */
void AC_AttitudeControl::control_monitor_log(void) void AC_AttitudeControl::control_monitor_log(void)
{ {
DataFlash_Class::instance()->Log_Write("CTRL", "TimeUS,RMSRollP,RMSRollD,RMSPitchP,RMSPitchD,RMSYaw", "Qfffff", AP_Logger::instance()->Log_Write("CTRL", "TimeUS,RMSRollP,RMSRollD,RMSPitchP,RMSPitchD,RMSYaw", "Qfffff",
AP_HAL::micros64(), AP_HAL::micros64(),
(double)safe_sqrt(_control_monitor.rms_roll_P), (double)safe_sqrt(_control_monitor.rms_roll_P),
(double)safe_sqrt(_control_monitor.rms_roll_D), (double)safe_sqrt(_control_monitor.rms_roll_D),

6
libraries/AC_AutoTune/AC_AutoTune.cpp
View File

@ -661,7 +661,7 @@ void AC_AutoTune::control_attitude()
// log this iterations lean angle and rotation rate // log this iterations lean angle and rotation rate
Log_Write_AutoTuneDetails(lean_angle, rotation_rate); Log_Write_AutoTuneDetails(lean_angle, rotation_rate);
DataFlash_Class::instance()->Log_Write_Rate(ahrs_view, *motors, *attitude_control, *pos_control); AP_Logger::instance()->Log_Write_Rate(ahrs_view, *motors, *attitude_control, *pos_control);
log_pids(); log_pids();
break; break;
} }
@ -1696,7 +1696,7 @@ void AC_AutoTune::get_poshold_attitude(int32_t &roll_cd_out, int32_t &pitch_cd_o
// Write an Autotune data packet // Write an Autotune data packet
void AC_AutoTune::Log_Write_AutoTune(uint8_t _axis, uint8_t tune_step, float meas_target, float meas_min, float meas_max, float new_gain_rp, float new_gain_rd, float new_gain_sp, float new_ddt) void AC_AutoTune::Log_Write_AutoTune(uint8_t _axis, uint8_t tune_step, float meas_target, float meas_min, float meas_max, float new_gain_rp, float new_gain_rd, float new_gain_sp, float new_ddt)
{ {
DataFlash_Class::instance()->Log_Write( AP_Logger::instance()->Log_Write(
"ATUN", "ATUN",
"TimeUS,Axis,TuneStep,Targ,Min,Max,RP,RD,SP,ddt", "TimeUS,Axis,TuneStep,Targ,Min,Max,RP,RD,SP,ddt",
"s--ddd---o", "s--ddd---o",
@ -1717,7 +1717,7 @@ void AC_AutoTune::Log_Write_AutoTune(uint8_t _axis, uint8_t tune_step, float mea
// Write an Autotune data packet // Write an Autotune data packet
void AC_AutoTune::Log_Write_AutoTuneDetails(float angle_cd, float rate_cds) void AC_AutoTune::Log_Write_AutoTuneDetails(float angle_cd, float rate_cds)
{ {
DataFlash_Class::instance()->Log_Write( AP_Logger::instance()->Log_Write(
"ATDE", "ATDE",
"TimeUS,Angle,Rate", "TimeUS,Angle,Rate",
"sdk", "sdk",

6
libraries/AC_PID/AC_PID.h
View File

@ -7,7 +7,7 @@
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
#include <stdlib.h> #include <stdlib.h>
#include <cmath> #include <cmath>
#include <DataFlash/DataFlash.h> #include <AP_Logger/AP_Logger.h>
#define AC_PID_FILT_HZ_DEFAULT 20.0f // default input filter frequency #define AC_PID_FILT_HZ_DEFAULT 20.0f // default input filter frequency
#define AC_PID_FILT_HZ_MIN 0.01f // minimum input filter frequency #define AC_PID_FILT_HZ_MIN 0.01f // minimum input filter frequency
@ -80,7 +80,7 @@ public:
void set_desired_rate(float desired) { _pid_info.desired = desired; } void set_desired_rate(float desired) { _pid_info.desired = desired; }
void set_actual_rate(float actual) { _pid_info.actual = actual; } void set_actual_rate(float actual) { _pid_info.actual = actual; }
const DataFlash_Class::PID_Info& get_pid_info(void) const { return _pid_info; } const AP_Logger::PID_Info& get_pid_info(void) const { return _pid_info; }
// parameter var table // parameter var table
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
@ -106,5 +106,5 @@ protected:
float _input; // last input for derivative float _input; // last input for derivative
float _derivative; // last derivative for low-pass filter float _derivative; // last derivative for low-pass filter
DataFlash_Class::PID_Info _pid_info; AP_Logger::PID_Info _pid_info;
}; };

4
libraries/APM_Control/AP_AutoTune.cpp
View File

@ -266,7 +266,7 @@ void AP_AutoTune::check_save(void)
*/ */
void AP_AutoTune::log_param_change(float v, const char *suffix) void AP_AutoTune::log_param_change(float v, const char *suffix)
{ {
DataFlash_Class *dataflash = DataFlash_Class::instance(); AP_Logger *dataflash = AP_Logger::instance();
if (!dataflash->logging_started()) { if (!dataflash->logging_started()) {
return; return;
} }
@ -327,7 +327,7 @@ void AP_AutoTune::save_gains(const ATGains &v)
void AP_AutoTune::write_log(float servo, float demanded, float achieved) void AP_AutoTune::write_log(float servo, float demanded, float achieved)
{ {
DataFlash_Class *dataflash = DataFlash_Class::instance(); AP_Logger *dataflash = AP_Logger::instance();
if (!dataflash->logging_started()) { if (!dataflash->logging_started()) {
return; return;
} }

2
libraries/APM_Control/AP_AutoTune.h
View File

@ -2,7 +2,7 @@
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
#include <DataFlash/DataFlash.h> #include <AP_Logger/AP_Logger.h>
class AP_AutoTune { class AP_AutoTune {
public: public:

6
libraries/APM_Control/AP_PitchController.h
View File

@ -4,7 +4,7 @@
#include <AP_Common/AP_Common.h> #include <AP_Common/AP_Common.h>
#include <AP_Vehicle/AP_Vehicle.h> #include <AP_Vehicle/AP_Vehicle.h>
#include "AP_AutoTune.h" #include "AP_AutoTune.h"
#include <DataFlash/DataFlash.h> #include <AP_Logger/AP_Logger.h>
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
class AP_PitchController { class AP_PitchController {
@ -29,7 +29,7 @@ public:
void autotune_start(void) { autotune.start(); } void autotune_start(void) { autotune.start(); }
void autotune_restore(void) { autotune.stop(); } void autotune_restore(void) { autotune.stop(); }
const DataFlash_Class::PID_Info& get_pid_info(void) const { return _pid_info; } const AP_Logger::PID_Info& get_pid_info(void) const { return _pid_info; }
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
@ -47,7 +47,7 @@ private:
uint32_t _last_t; uint32_t _last_t;
float _last_out; float _last_out;
DataFlash_Class::PID_Info _pid_info; AP_Logger::PID_Info _pid_info;
int32_t _get_rate_out(float desired_rate, float scaler, bool disable_integrator, float aspeed); int32_t _get_rate_out(float desired_rate, float scaler, bool disable_integrator, float aspeed);
float _get_coordination_rate_offset(float &aspeed, bool &inverted) const; float _get_coordination_rate_offset(float &aspeed, bool &inverted) const;

6
libraries/APM_Control/AP_RollController.h
View File

@ -4,7 +4,7 @@
#include <AP_Common/AP_Common.h> #include <AP_Common/AP_Common.h>
#include <AP_Vehicle/AP_Vehicle.h> #include <AP_Vehicle/AP_Vehicle.h>
#include "AP_AutoTune.h" #include "AP_AutoTune.h"
#include <DataFlash/DataFlash.h> #include <AP_Logger/AP_Logger.h>
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
class AP_RollController { class AP_RollController {
@ -29,7 +29,7 @@ public:
void autotune_start(void) { autotune.start(); } void autotune_start(void) { autotune.start(); }
void autotune_restore(void) { autotune.stop(); } void autotune_restore(void) { autotune.stop(); }
const DataFlash_Class::PID_Info& get_pid_info(void) const { return _pid_info; } const AP_Logger::PID_Info& get_pid_info(void) const { return _pid_info; }
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
@ -52,7 +52,7 @@ private:
uint32_t _last_t; uint32_t _last_t;
float _last_out; float _last_out;
DataFlash_Class::PID_Info _pid_info; AP_Logger::PID_Info _pid_info;
int32_t _get_rate_out(float desired_rate, float scaler, bool disable_integrator); int32_t _get_rate_out(float desired_rate, float scaler, bool disable_integrator);

6
libraries/APM_Control/AP_SteerController.h
View File

@ -3,7 +3,7 @@
#include <AP_AHRS/AP_AHRS.h> #include <AP_AHRS/AP_AHRS.h>
#include <AP_Common/AP_Common.h> #include <AP_Common/AP_Common.h>
#include <AP_Vehicle/AP_Vehicle.h> #include <AP_Vehicle/AP_Vehicle.h>
#include <DataFlash/DataFlash.h> #include <AP_Logger/AP_Logger.h>
class AP_SteerController { class AP_SteerController {
public: public:
@ -46,7 +46,7 @@ public:
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
const DataFlash_Class::PID_Info& get_pid_info(void) const { return _pid_info; } const AP_Logger::PID_Info& get_pid_info(void) const { return _pid_info; }
void set_reverse(bool reverse) { void set_reverse(bool reverse) {
_reverse = reverse; _reverse = reverse;
@ -67,7 +67,7 @@ private:
AP_Float _deratefactor; AP_Float _deratefactor;
AP_Float _mindegree; AP_Float _mindegree;
DataFlash_Class::PID_Info _pid_info {}; AP_Logger::PID_Info _pid_info {};
AP_AHRS &_ahrs; AP_AHRS &_ahrs;

6
libraries/APM_Control/AP_YawController.h
View File

@ -3,7 +3,7 @@
#include <AP_AHRS/AP_AHRS.h> #include <AP_AHRS/AP_AHRS.h>
#include <AP_Common/AP_Common.h> #include <AP_Common/AP_Common.h>
#include <AP_Vehicle/AP_Vehicle.h> #include <AP_Vehicle/AP_Vehicle.h>
#include <DataFlash/DataFlash.h> #include <AP_Logger/AP_Logger.h>
#include <cmath> #include <cmath>
class AP_YawController { class AP_YawController {
@ -26,7 +26,7 @@ public:
void reset_I(); void reset_I();
const DataFlash_Class::PID_Info& get_pid_info(void) const {return _pid_info; } const AP_Logger::PID_Info& get_pid_info(void) const {return _pid_info; }
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
@ -45,7 +45,7 @@ private:
float _integrator; float _integrator;
DataFlash_Class::PID_Info _pid_info; AP_Logger::PID_Info _pid_info;
AP_AHRS &_ahrs; AP_AHRS &_ahrs;
}; };

4
libraries/AP_AHRS/AP_AHRS.cpp
View File

@ -17,7 +17,7 @@
#include "AP_AHRS.h" #include "AP_AHRS.h"
#include "AP_AHRS_View.h" #include "AP_AHRS_View.h"
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <DataFlash/DataFlash.h> #include <AP_Logger/AP_Logger.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -475,7 +475,7 @@ Vector2f AP_AHRS::rotate_body_to_earth2D(const Vector2f &bf) const
// log ahrs home and EKF origin to dataflash // log ahrs home and EKF origin to dataflash
void AP_AHRS::Log_Write_Home_And_Origin() void AP_AHRS::Log_Write_Home_And_Origin()
{ {
DataFlash_Class *df = DataFlash_Class::instance(); AP_Logger *df = AP_Logger::instance();
if (df == nullptr) { if (df == nullptr) {
return; return;
} }

4
libraries/AP_Airspeed/AP_Airspeed.cpp
View File

@ -22,7 +22,7 @@
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <SRV_Channel/SRV_Channel.h> #include <SRV_Channel/SRV_Channel.h>
#include <DataFlash/DataFlash.h> #include <AP_Logger/AP_Logger.h>
#include <utility> #include <utility>
#include "AP_Airspeed.h" #include "AP_Airspeed.h"
#include "AP_Airspeed_MS4525.h" #include "AP_Airspeed_MS4525.h"
@ -428,7 +428,7 @@ void AP_Airspeed::update(bool log)
#endif #endif
if (log) { if (log) {
DataFlash_Class *_dataflash = DataFlash_Class::instance(); AP_Logger *_dataflash = AP_Logger::instance();
if (_dataflash != nullptr) { if (_dataflash != nullptr) {
_dataflash->Log_Write_Airspeed(*this); _dataflash->Log_Write_Airspeed(*this);
} }

8
libraries/AP_Arming/AP_Arming.cpp
View File

@ -200,11 +200,11 @@ bool AP_Arming::logging_checks(bool report)
{ {
if ((checks_to_perform & ARMING_CHECK_ALL) || if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_LOGGING)) { (checks_to_perform & ARMING_CHECK_LOGGING)) {
if (DataFlash_Class::instance()->logging_failed()) { if (AP_Logger::instance()->logging_failed()) {
check_failed(ARMING_CHECK_LOGGING, report, "Logging failed"); check_failed(ARMING_CHECK_LOGGING, report, "Logging failed");
return false; return false;
} }
if (!DataFlash_Class::instance()->CardInserted()) { if (!AP_Logger::instance()->CardInserted()) {
check_failed(ARMING_CHECK_LOGGING, report, "No SD card"); check_failed(ARMING_CHECK_LOGGING, report, "No SD card");
return false; return false;
} }
@ -720,11 +720,11 @@ bool AP_Arming::arm_checks(ArmingMethod method)
} }
} }
// note that this will prepare DataFlash to start logging // note that this will prepare AP_Logger to start logging
// so should be the last check to be done before arming // so should be the last check to be done before arming
if ((checks_to_perform & ARMING_CHECK_ALL) || if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_LOGGING)) { (checks_to_perform & ARMING_CHECK_LOGGING)) {
DataFlash_Class *df = DataFlash_Class::instance(); AP_Logger *df = AP_Logger::instance();
df->PrepForArming(); df->PrepForArming();
if (!df->logging_started()) { if (!df->logging_started()) {
check_failed(ARMING_CHECK_LOGGING, true, "Logging not started"); check_failed(ARMING_CHECK_LOGGING, true, "Logging not started");

4
libraries/AP_BLHeli/AP_BLHeli.cpp
View File

@ -30,7 +30,7 @@
#include <GCS_MAVLink/GCS_MAVLink.h> #include <GCS_MAVLink/GCS_MAVLink.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <AP_SerialManager/AP_SerialManager.h> #include <AP_SerialManager/AP_SerialManager.h>
#include <DataFlash/DataFlash.h> #include <AP_Logger/AP_Logger.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -1346,7 +1346,7 @@ void AP_BLHeli::read_telemetry_packet(void)
last_telem[last_telem_esc] = td; last_telem[last_telem_esc] = td;
last_telem[last_telem_esc].count++; last_telem[last_telem_esc].count++;
DataFlash_Class *df = DataFlash_Class::instance(); AP_Logger *df = AP_Logger::instance();
if (df && df->logging_enabled()) { if (df && df->logging_enabled()) {
struct log_Esc pkt = { struct log_Esc pkt = {
LOG_PACKET_HEADER_INIT(uint8_t(LOG_ESC1_MSG+last_telem_esc)), LOG_PACKET_HEADER_INIT(uint8_t(LOG_ESC1_MSG+last_telem_esc)),

4
libraries/AP_Baro/AP_Baro.cpp
View File

@ -734,7 +734,7 @@ void AP_Baro::_probe_i2c_barometers(void)
bool AP_Baro::should_df_log() const bool AP_Baro::should_df_log() const
{ {
DataFlash_Class *instance = DataFlash_Class::instance(); AP_Logger *instance = AP_Logger::instance();
if (instance == nullptr) { if (instance == nullptr) {
return false; return false;
} }
@ -816,7 +816,7 @@ void AP_Baro::update(void)
// logging // logging
if (should_df_log() && !AP::ahrs().have_ekf_logging()) { if (should_df_log() && !AP::ahrs().have_ekf_logging()) {
DataFlash_Class::instance()->Log_Write_Baro(); AP_Logger::instance()->Log_Write_Baro();
} }
} }

4
libraries/AP_Baro/AP_Baro_ICM20789.cpp
View File

@ -27,7 +27,7 @@
#include <stdio.h> #include <stdio.h>
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include <DataFlash/DataFlash.h> #include <AP_Logger/AP_Logger.h>
#include <AP_InertialSensor/AP_InertialSensor_Invensense_registers.h> #include <AP_InertialSensor/AP_InertialSensor_Invensense_registers.h>
@ -343,7 +343,7 @@ void AP_Baro_ICM20789::update()
{ {
#if BARO_ICM20789_DEBUG #if BARO_ICM20789_DEBUG
// useful for debugging // useful for debugging
DataFlash_Class::instance()->Log_Write("ICMB", "TimeUS,Traw,Praw,P,T", "QIIff", AP_Logger::instance()->Log_Write("ICMB", "TimeUS,Traw,Praw,P,T", "QIIff",
AP_HAL::micros64(), AP_HAL::micros64(),
dd.Traw, dd.Praw, dd.P, dd.T); dd.Traw, dd.Praw, dd.P, dd.T);
#endif #endif

4
libraries/AP_BattMonitor/AP_BattMonitor.cpp
View File

@ -12,7 +12,7 @@
#endif #endif
#include <AP_Vehicle/AP_Vehicle_Type.h> #include <AP_Vehicle/AP_Vehicle_Type.h>
#include <DataFlash/DataFlash.h> #include <AP_Logger/AP_Logger.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -237,7 +237,7 @@ AP_BattMonitor::read()
} }
} }
DataFlash_Class *df = DataFlash_Class::instance(); AP_Logger *df = AP_Logger::instance();
if (df->should_log(_log_battery_bit)) { if (df->should_log(_log_battery_bit)) {
df->Log_Write_Current(); df->Log_Write_Current();
df->Log_Write_Power(); df->Log_Write_Power();

4
libraries/AP_Camera/AP_Camera.cpp
View File

@ -390,7 +390,7 @@ void AP_Camera::setup_feedback_callback(void)
// log_picture - log picture taken and send feedback to GCS // log_picture - log picture taken and send feedback to GCS
void AP_Camera::log_picture() void AP_Camera::log_picture()
{ {
DataFlash_Class *df = DataFlash_Class::instance(); AP_Logger *df = AP_Logger::instance();
if (df == nullptr) { if (df == nullptr) {
return; return;
} }
@ -437,7 +437,7 @@ void AP_Camera::update_trigger()
_camera_trigger_logged = _camera_trigger_count; _camera_trigger_logged = _camera_trigger_count;
gcs().send_message(MSG_CAMERA_FEEDBACK); gcs().send_message(MSG_CAMERA_FEEDBACK);
DataFlash_Class *df = DataFlash_Class::instance(); AP_Logger *df = AP_Logger::instance();
if (df != nullptr) { if (df != nullptr) {
if (df->should_log(log_camera_bit)) { if (df->should_log(log_camera_bit)) {
uint32_t tdiff = AP_HAL::micros() - timestamp32; uint32_t tdiff = AP_HAL::micros() - timestamp32;

4
libraries/AP_Compass/AP_Compass_MMC3416.cpp
View File

@ -21,7 +21,7 @@
#include <utility> #include <utility>
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include <stdio.h> #include <stdio.h>
#include <DataFlash/DataFlash.h> #include <AP_Logger/AP_Logger.h>
extern const AP_HAL::HAL &hal; extern const AP_HAL::HAL &hal;
@ -224,7 +224,7 @@ void AP_Compass_MMC3416::timer()
} }
#if 0 #if 0
DataFlash_Class::instance()->Log_Write("MMO", "TimeUS,Nx,Ny,Nz,Ox,Oy,Oz", "Qffffff", AP_Logger::instance()->Log_Write("MMO", "TimeUS,Nx,Ny,Nz,Ox,Oy,Oz", "Qffffff",
AP_HAL::micros64(), AP_HAL::micros64(),
(double)new_offset.x, (double)new_offset.x,
(double)new_offset.y, (double)new_offset.y,

4
libraries/AP_Compass/Compass_learn.cpp
View File

@ -3,7 +3,7 @@
#include <AP_Compass/AP_Compass.h> #include <AP_Compass/AP_Compass.h>
#include <AP_Declination/AP_Declination.h> #include <AP_Declination/AP_Declination.h>
#include <DataFlash/DataFlash.h> #include <AP_Logger/AP_Logger.h>
#include "Compass_learn.h" #include "Compass_learn.h"
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
@ -104,7 +104,7 @@ void CompassLearn::update(void)
} }
if (sample_available) { if (sample_available) {
DataFlash_Class::instance()->Log_Write("COFS", "TimeUS,OfsX,OfsY,OfsZ,Var,Yaw,WVar,N", "QffffffI", AP_Logger::instance()->Log_Write("COFS", "TimeUS,OfsX,OfsY,OfsZ,Var,Yaw,WVar,N", "QffffffI",
AP_HAL::micros64(), AP_HAL::micros64(),
(double)best_offsets.x, (double)best_offsets.x,
(double)best_offsets.y, (double)best_offsets.y,

2
libraries/AP_Follow/AP_Follow.cpp
View File

@ -307,7 +307,7 @@ void AP_Follow::handle_msg(const mavlink_message_t &msg)
} }
// log lead's estimated vs reported position // log lead's estimated vs reported position
DataFlash_Class::instance()->Log_Write("FOLL", AP_Logger::instance()->Log_Write("FOLL",
"TimeUS,Lat,Lon,Alt,VelN,VelE,VelD,LatE,LonE,AltE", // labels "TimeUS,Lat,Lon,Alt,VelN,VelE,VelD,LatE,LonE,AltE", // labels
"sDUmnnnDUm", // units "sDUmnnnDUm", // units
"F--B000--B", // mults "F--B000--B", // mults

8
libraries/AP_GPS/AP_GPS.cpp
View File

@ -561,7 +561,7 @@ AP_GPS::GPS_Status AP_GPS::highest_supported_status(uint8_t instance) const
bool AP_GPS::should_df_log() const bool AP_GPS::should_df_log() const
{ {
DataFlash_Class *instance = DataFlash_Class::instance(); AP_Logger *instance = AP_Logger::instance();
if (instance == nullptr) { if (instance == nullptr) {
return false; return false;
} }
@ -657,7 +657,7 @@ void AP_GPS::update_instance(uint8_t instance)
if (data_should_be_logged && if (data_should_be_logged &&
should_df_log() && should_df_log() &&
!AP::ahrs().have_ekf_logging()) { !AP::ahrs().have_ekf_logging()) {
DataFlash_Class::instance()->Log_Write_GPS(instance); AP_Logger::instance()->Log_Write_GPS(instance);
} }
if (state[instance].status >= GPS_OK_FIX_3D) { if (state[instance].status >= GPS_OK_FIX_3D) {
@ -1086,13 +1086,13 @@ void AP_GPS::handle_gps_rtcm_data(const mavlink_message_t *msg)
} }
} }
void AP_GPS::Write_DataFlash_Log_Startup_messages() void AP_GPS::Write_AP_Logger_Log_Startup_messages()
{ {
for (uint8_t instance=0; instance<num_instances; instance++) { for (uint8_t instance=0; instance<num_instances; instance++) {
if (drivers[instance] == nullptr || state[instance].status == NO_GPS) { if (drivers[instance] == nullptr || state[instance].status == NO_GPS) {
continue; continue;
} }
drivers[instance]->Write_DataFlash_Log_Startup_messages(); drivers[instance]->Write_AP_Logger_Log_Startup_messages();
} }
} }

2
libraries/AP_GPS/AP_GPS.h
View File

@ -409,7 +409,7 @@ public:
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
void Write_DataFlash_Log_Startup_messages(); void Write_AP_Logger_Log_Startup_messages();
// indicate which bit in LOG_BITMASK indicates gps logging enabled // indicate which bit in LOG_BITMASK indicates gps logging enabled
void set_log_gps_bit(uint32_t bit) { _log_gps_bit = bit; } void set_log_gps_bit(uint32_t bit) { _log_gps_bit = bit; }

2
libraries/AP_GPS/AP_GPS_GSOF.cpp
View File

@ -22,7 +22,7 @@
#include "AP_GPS.h" #include "AP_GPS.h"
#include "AP_GPS_GSOF.h" #include "AP_GPS_GSOF.h"
#include <DataFlash/DataFlash.h> #include <AP_Logger/AP_Logger.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;

2
libraries/AP_GPS/AP_GPS_NOVA.cpp
View File

@ -19,7 +19,7 @@
#include "AP_GPS.h" #include "AP_GPS.h"
#include "AP_GPS_NOVA.h" #include "AP_GPS_NOVA.h"
#include <DataFlash/DataFlash.h> #include <AP_Logger/AP_Logger.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;

4
libraries/AP_GPS/AP_GPS_SBF.cpp
View File

@ -22,7 +22,7 @@
#include "AP_GPS.h" #include "AP_GPS.h"
#include "AP_GPS_SBF.h" #include "AP_GPS_SBF.h"
#include <DataFlash/DataFlash.h> #include <AP_Logger/AP_Logger.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -260,7 +260,7 @@ AP_GPS_SBF::log_ExtEventPVTGeodetic(const msg4007 &temp)
COG:temp.COG COG:temp.COG
}; };
DataFlash_Class::instance()->WriteBlock(&header, sizeof(header)); AP_Logger::instance()->WriteBlock(&header, sizeof(header));
} }
bool bool

8
libraries/AP_GPS/AP_GPS_SBP.cpp
View File

@ -22,7 +22,7 @@
#include "AP_GPS.h" #include "AP_GPS.h"
#include "AP_GPS_SBP.h" #include "AP_GPS_SBP.h"
#include <DataFlash/DataFlash.h> #include <AP_Logger/AP_Logger.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -404,7 +404,7 @@ AP_GPS_SBP::logging_log_full_update()
last_iar_num_hypotheses : last_iar_num_hypotheses, last_iar_num_hypotheses : last_iar_num_hypotheses,
}; };
DataFlash_Class::instance()->WriteBlock(&pkt, sizeof(pkt)); AP_Logger::instance()->WriteBlock(&pkt, sizeof(pkt));
}; };
void void
@ -438,7 +438,7 @@ AP_GPS_SBP::logging_log_raw_sbp(uint16_t msg_type,
msg_len : msg_len, msg_len : msg_len,
}; };
memcpy(pkt.data, msg_buff, MIN(msg_len, 48)); memcpy(pkt.data, msg_buff, MIN(msg_len, 48));
DataFlash_Class::instance()->WriteBlock(&pkt, sizeof(pkt)); AP_Logger::instance()->WriteBlock(&pkt, sizeof(pkt));
for (uint8_t i = 0; i < pages - 1; i++) { for (uint8_t i = 0; i < pages - 1; i++) {
struct log_SbpRAWM pkt2 = { struct log_SbpRAWM pkt2 = {
@ -451,7 +451,7 @@ AP_GPS_SBP::logging_log_raw_sbp(uint16_t msg_type,
msg_len : msg_len, msg_len : msg_len,
}; };
memcpy(pkt2.data, &msg_buff[48 + i * 104], MIN(msg_len - (48 + i * 104), 104)); memcpy(pkt2.data, &msg_buff[48 + i * 104], MIN(msg_len - (48 + i * 104), 104));
DataFlash_Class::instance()->WriteBlock(&pkt2, sizeof(pkt2)); AP_Logger::instance()->WriteBlock(&pkt2, sizeof(pkt2));
} }
}; };

2
libraries/AP_GPS/AP_GPS_SBP.h
View File

@ -177,7 +177,7 @@ private:
uint32_t crc_error_counter; uint32_t crc_error_counter;
// ************************************************************************ // ************************************************************************
// Logging to DataFlash // Logging to AP_Logger
// ************************************************************************ // ************************************************************************
void logging_log_full_update(); void logging_log_full_update();

10
libraries/AP_GPS/AP_GPS_SBP2.cpp
View File

@ -22,7 +22,7 @@
#include "AP_GPS.h" #include "AP_GPS.h"
#include "AP_GPS_SBP2.h" #include "AP_GPS_SBP2.h"
#include <DataFlash/DataFlash.h> #include <AP_Logger/AP_Logger.h>
#include <GCS_MAVLink/GCS_MAVLink.h> #include <GCS_MAVLink/GCS_MAVLink.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
@ -454,7 +454,7 @@ AP_GPS_SBP2::logging_log_full_update()
last_injected_data_ms : last_injected_data_ms, last_injected_data_ms : last_injected_data_ms,
last_iar_num_hypotheses : 0, last_iar_num_hypotheses : 0,
}; };
DataFlash_Class::instance()->WriteBlock(&pkt, sizeof(pkt)); AP_Logger::instance()->WriteBlock(&pkt, sizeof(pkt));
}; };
void void
@ -488,7 +488,7 @@ AP_GPS_SBP2::logging_log_raw_sbp(uint16_t msg_type,
msg_len : msg_len, msg_len : msg_len,
}; };
memcpy(pkt.data, msg_buff, MIN(msg_len, 48)); memcpy(pkt.data, msg_buff, MIN(msg_len, 48));
DataFlash_Class::instance()->WriteBlock(&pkt, sizeof(pkt)); AP_Logger::instance()->WriteBlock(&pkt, sizeof(pkt));
for (uint8_t i = 0; i < pages - 1; i++) { for (uint8_t i = 0; i < pages - 1; i++) {
struct log_SbpRAWM pkt2 = { struct log_SbpRAWM pkt2 = {
@ -501,7 +501,7 @@ AP_GPS_SBP2::logging_log_raw_sbp(uint16_t msg_type,
msg_len : msg_len, msg_len : msg_len,
}; };
memcpy(pkt2.data, &msg_buff[48 + i * 104], MIN(msg_len - (48 + i * 104), 104)); memcpy(pkt2.data, &msg_buff[48 + i * 104], MIN(msg_len - (48 + i * 104), 104));
DataFlash_Class::instance()->WriteBlock(&pkt2, sizeof(pkt2)); AP_Logger::instance()->WriteBlock(&pkt2, sizeof(pkt2));
} }
}; };
@ -520,5 +520,5 @@ AP_GPS_SBP2::logging_ext_event() {
level : last_event.flags.level, level : last_event.flags.level,
quality : last_event.flags.quality, quality : last_event.flags.quality,
}; };
DataFlash_Class::instance()->WriteBlock(&pkt, sizeof(pkt)); AP_Logger::instance()->WriteBlock(&pkt, sizeof(pkt));
}; };

2
libraries/AP_GPS/AP_GPS_SBP2.h
View File

@ -188,7 +188,7 @@ private:
uint32_t crc_error_counter; uint32_t crc_error_counter;
// ************************************************************************ // ************************************************************************
// Logging to DataFlash // Logging to AP_Logger
// ************************************************************************ // ************************************************************************
void logging_log_full_update(); void logging_log_full_update();

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