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ArduCopter: reduce redundant event logging 

We now only write state changes to the dataflash log when they have
changed.
Also replaced <tab> with <space> in AP_State.pde
This commit is contained in:
Randy Mackay 2013-01-13 00:13:10 +09:00
parent af478d52bc
commit b4bbae56c6
1 changed files with 69 additions and 50 deletions
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119
ArduCopter/AP_State.pde
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@ -3,43 +3,55 @@
void set_home_is_set(bool b)
{
ap.home_is_set = b;
// if no change, exit immediately
if( ap.home_is_set == b )
return;
if(b) Log_Write_Event(DATA_SET_HOME);
ap.home_is_set = b;
if(b) {
Log_Write_Event(DATA_SET_HOME);
}
}
// ---------------------------------------------
void set_armed(bool b)
{
ap.armed = b;
if(b){
Log_Write_Event(DATA_ARMED);
// if no change, exit immediately
if( ap.armed == b )
return;
}else{
Log_Write_Event(DATA_DISARMED);
}
ap.armed = b;
if(b){
Log_Write_Event(DATA_ARMED);
}else{
Log_Write_Event(DATA_DISARMED);
}
}
// ---------------------------------------------
void set_auto_armed(bool b)
{
ap.auto_armed = b;
if(b){
Log_Write_Event(DATA_AUTO_ARMED);
}
// if no change, exit immediately
if( ap.auto_armed == b )
return;
ap.auto_armed = b;
if(b){
Log_Write_Event(DATA_AUTO_ARMED);
}
}
// ---------------------------------------------
void set_simple_mode(bool b)
{
if(ap.simple_mode != b){
if(b){
Log_Write_Event(DATA_SET_SIMPLE_ON);
}else{
Log_Write_Event(DATA_SET_SIMPLE_OFF);
}
}
ap.simple_mode = b;
if(ap.simple_mode != b){
if(b){
Log_Write_Event(DATA_SET_SIMPLE_ON);
}else{
Log_Write_Event(DATA_SET_SIMPLE_OFF);
}
ap.simple_mode = b;
}
}
// ---------------------------------------------
@ -69,25 +81,33 @@ static void set_failsafe(bool mode)
// ---------------------------------------------
void set_low_battery(bool b)
{
ap.low_battery = b;
ap.low_battery = b;
}
// ---------------------------------------------
void set_takeoff_complete(bool b)
{
if(b){
Log_Write_Event(DATA_TAKEOFF);
}
ap.takeoff_complete = b;
// if no change, exit immediately
if( ap.takeoff_complete == b )
return;
if(b){
Log_Write_Event(DATA_TAKEOFF);
}
ap.takeoff_complete = b;
}
// ---------------------------------------------
void set_land_complete(bool b)
{
if(b){
Log_Write_Event(DATA_LAND_COMPLETE);
}
ap.land_complete = b;
// if no change, exit immediately
if( ap.land_complete == b )
return;
if(b){
Log_Write_Event(DATA_LAND_COMPLETE);
}
ap.land_complete = b;
}
// ---------------------------------------------
@ -100,41 +120,40 @@ void set_alt_change(uint8_t flag){
}
// update flag
alt_change_flag = flag;
alt_change_flag = flag;
if(flag == REACHED_ALT){
Log_Write_Event(DATA_REACHED_ALT);
if(flag == REACHED_ALT){
Log_Write_Event(DATA_REACHED_ALT);
}else if(flag == ASCENDING){
Log_Write_Event(DATA_ASCENDING);
}else if(flag == ASCENDING){
Log_Write_Event(DATA_ASCENDING);
}else if(flag == DESCENDING){
Log_Write_Event(DATA_DESCENDING);
}
}else if(flag == DESCENDING){
Log_Write_Event(DATA_DESCENDING);
}
}
void set_compass_healthy(bool b)
{
if(ap.compass_status != b){
if(false == b){
Log_Write_Event(DATA_LOST_COMPASS);
}
}
ap.compass_status = b;
if(ap.compass_status != b){
if(false == b){
Log_Write_Event(DATA_LOST_COMPASS);
}
}
ap.compass_status = b;
}
void set_gps_healthy(bool b)
{
if(ap.gps_status != b){
if(false == b){
Log_Write_Event(DATA_LOST_GPS);
}
}
ap.gps_status = b;
if(ap.gps_status != b){
if(false == b){
Log_Write_Event(DATA_LOST_GPS);
}
}
ap.gps_status = b;
}
void dump_state()
{
cliSerial->printf("st: %u\n",ap.value);
//cliSerial->printf("%u\n", *(uint16_t*)&ap);
}