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AP_Logger: move Mission log structures into Mission library

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Peter Barker 2024-09-27 16:40:18 +10:00 committed by Andrew Tridgell
parent bdecbb5369
commit b98e682ec6
2 changed files with 4 additions and 35 deletions
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2
libraries/AP_Logger/LogFile.cpp
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@ -304,7 +304,7 @@ bool AP_Logger_Backend::Write_Mission_Cmd(const AP_Mission &mission,
{ {
mavlink_mission_item_int_t mav_cmd = {}; mavlink_mission_item_int_t mav_cmd = {};
AP_Mission::mission_cmd_to_mavlink_int(cmd,mav_cmd); AP_Mission::mission_cmd_to_mavlink_int(cmd,mav_cmd);
const struct log_Cmd pkt{ const struct log_CMD pkt{
LOG_PACKET_HEADER_INIT(LOG_CMD_MSG), LOG_PACKET_HEADER_INIT(LOG_CMD_MSG),
time_us : AP_HAL::micros64(), time_us : AP_HAL::micros64(),
command_total : mission.num_commands(), command_total : mission.num_commands(),

37
libraries/AP_Logger/LogStructure.h
View File

@ -146,6 +146,7 @@ const struct MultiplierStructure log_Multipliers[] = {
#include <AP_Landing/LogStructure.h> #include <AP_Landing/LogStructure.h>
#include <AC_AttitudeControl/LogStructure.h> #include <AC_AttitudeControl/LogStructure.h>
#include <AP_HAL/LogStructure.h> #include <AP_HAL/LogStructure.h>
#include <AP_Mission/LogStructure.h>
// structure used to define logging format // structure used to define logging format
// It is packed on ChibiOS to save flash space; however, this causes problems // It is packed on ChibiOS to save flash space; however, this causes problems
@ -350,22 +351,6 @@ struct PACKED log_MCU {
float MCU_voltage_max; float MCU_voltage_max;
}; };
struct PACKED log_Cmd {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t command_total;
uint16_t sequence;
uint16_t command;
float param1;
float param2;
float param3;
float param4;
int32_t latitude;
int32_t longitude;
float altitude;
uint8_t frame;
};
struct PACKED log_MAVLink_Command { struct PACKED log_MAVLink_Command {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint64_t time_us; uint64_t time_us;
@ -712,21 +697,6 @@ struct PACKED log_VER {
// @Field: TR: innovation test ratio // @Field: TR: innovation test ratio
// @Field: Pri: True if sensor is the primary sensor // @Field: Pri: True if sensor is the primary sensor
// @LoggerMessage: CMD
// @Description: Executed mission command information
// @Field: TimeUS: Time since system startup
// @Field: CTot: Total number of mission commands
// @Field: CNum: This command's offset in mission
// @Field: CId: Command type
// @Field: Prm1: Parameter 1
// @Field: Prm2: Parameter 2
// @Field: Prm3: Parameter 3
// @Field: Prm4: Parameter 4
// @Field: Lat: Command latitude
// @Field: Lng: Command longitude
// @Field: Alt: Command altitude
// @Field: Frame: Frame used for position
// @LoggerMessage: CSRV // @LoggerMessage: CSRV
// @Description: Servo feedback data // @Description: Servo feedback data
// @Field: TimeUS: Time since system startup // @Field: TimeUS: Time since system startup
@ -1218,8 +1188,7 @@ LOG_STRUCTURE_FROM_PRECLAND \
"POWR","QffHHB","TimeUS,Vcc,VServo,Flags,AccFlags,Safety", "svv---", "F00---", true }, \ "POWR","QffHHB","TimeUS,Vcc,VServo,Flags,AccFlags,Safety", "svv---", "F00---", true }, \
{ LOG_MCU_MSG, sizeof(log_MCU), \ { LOG_MCU_MSG, sizeof(log_MCU), \
"MCU","Qffff","TimeUS,MTemp,MVolt,MVmin,MVmax", "sOvvv", "F0000", true }, \ "MCU","Qffff","TimeUS,MTemp,MVolt,MVmin,MVmax", "sOvvv", "F0000", true }, \
{ LOG_CMD_MSG, sizeof(log_Cmd), \ LOG_STRUCTURE_FROM_MISSION \
"CMD", "QHHHffffLLfB","TimeUS,CTot,CNum,CId,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt,Frame", "s-------DUm-", "F-------GG0-" }, \
{ LOG_MAVLINK_COMMAND_MSG, sizeof(log_MAVLink_Command), \ { LOG_MAVLINK_COMMAND_MSG, sizeof(log_MAVLink_Command), \
"MAVC", "QBBBBBHffffiifBB","TimeUS,TS,TC,SS,SC,Fr,Cmd,P1,P2,P3,P4,X,Y,Z,Res,WL", "s---------------", "F---------------" }, \ "MAVC", "QBBBBBHffffiifBB","TimeUS,TS,TC,SS,SC,Fr,Cmd,P1,P2,P3,P4,X,Y,Z,Res,WL", "s---------------", "F---------------" }, \
{ LOG_RADIO_MSG, sizeof(log_Radio), \ { LOG_RADIO_MSG, sizeof(log_Radio), \
@ -1326,7 +1295,6 @@ enum LogMessages : uint8_t {
LOG_MCU_MSG, LOG_MCU_MSG,
LOG_IDS_FROM_AHRS, LOG_IDS_FROM_AHRS,
LOG_SIMSTATE_MSG, LOG_SIMSTATE_MSG,
LOG_CMD_MSG,
LOG_MAVLINK_COMMAND_MSG, LOG_MAVLINK_COMMAND_MSG,
LOG_RADIO_MSG, LOG_RADIO_MSG,
LOG_ATRP_MSG, LOG_ATRP_MSG,
@ -1337,6 +1305,7 @@ enum LogMessages : uint8_t {
LOG_IDS_FROM_ESC_TELEM, LOG_IDS_FROM_ESC_TELEM,
LOG_IDS_FROM_BATTMONITOR, LOG_IDS_FROM_BATTMONITOR,
LOG_IDS_FROM_HAL_CHIBIOS, LOG_IDS_FROM_HAL_CHIBIOS,
LOG_IDS_FROM_MISSION,
LOG_IDS_FROM_GPS, LOG_IDS_FROM_GPS,