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DataFlash: Minor whitespace changes/cleanup. No effect.

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This commit is contained in:
Robert Lefebvre 2015-01-14 21:38:16 -05:00 committed by Randy Mackay
parent 37304fd5ed
commit be803f4f39
2 changed files with 38 additions and 46 deletions
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18
libraries/DataFlash/DataFlash.h
View File

@ -554,17 +554,17 @@ Format characters in the format string for binary log messages
"CAM", "IHLLeeccC","GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,Roll,Pitch,Yaw" }, \
{ LOG_ARSP_MSG, sizeof(log_AIRSPEED), \
"ARSP", "Iffcff", "TimeMS,Airspeed,DiffPress,Temp,RawPress,Offset" }
{ LOG_CURRENT_MSG, sizeof(log_Current), \
{ LOG_CURRENT_MSG, sizeof(log_Current), \
"CURR", "Ihhhhfh","TimeMS,Throttle,Volt,Curr,Vcc,CurrTot,Volt2" },\
{ LOG_ATTITUDE_MSG, sizeof(log_Attitude),\
"ATT", "IccccCCCC", "TimeMS,DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw,ErrRP,ErrYaw" },\
{ LOG_COMPASS_MSG, sizeof(log_Compass), \
"MAG", "Ihhhhhhhhh", "TimeMS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ" },\
{ LOG_COMPASS2_MSG, sizeof(log_Compass), \
"MAG2","Ihhhhhhhhh", "TimeMS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ" },\
{ LOG_COMPASS3_MSG, sizeof(log_Compass), \
"MAG3","Ihhhhhhhhh", "TimeMS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ" },\
{ LOG_MODE_MSG, sizeof(log_Mode), \
"ATT", "IccccCCCC", "TimeMS,DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw,ErrRP,ErrYaw" }, \
{ LOG_COMPASS_MSG, sizeof(log_Compass), \
"MAG", "Ihhhhhhhhh", "TimeMS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ" }, \
{ LOG_COMPASS2_MSG, sizeof(log_Compass), \
"MAG2","Ihhhhhhhhh", "TimeMS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ" }, \
{ LOG_COMPASS3_MSG, sizeof(log_Compass), \
"MAG3","Ihhhhhhhhh", "TimeMS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ" }, \
{ LOG_MODE_MSG, sizeof(log_Mode), \
"MODE", "IMB", "TimeMS,Mode,ModeNum" }
// messages for more advanced boards

66
libraries/DataFlash/LogFile.cpp
View File

@ -12,7 +12,6 @@
extern const AP_HAL::HAL& hal;
void DataFlash_Class::Init(const struct LogStructure *structure, uint8_t num_types)
{
_num_types = num_types;
@ -20,7 +19,6 @@ void DataFlash_Class::Init(const struct LogStructure *structure, uint8_t num_typ
_writes_enabled = true;
}
// This function determines the number of whole or partial log files in the DataFlash
// Wholly overwritten files are (of course) lost.
uint16_t DataFlash_Block::get_num_logs(void)
@ -56,7 +54,6 @@ uint16_t DataFlash_Block::get_num_logs(void)
return (last - first + 1);
}
// This function starts a new log file in the DataFlash
uint16_t DataFlash_Block::start_new_log(void)
{
@ -171,7 +168,6 @@ bool DataFlash_Block::check_wrapped(void)
return 1;
}
// This funciton finds the last log number
uint16_t DataFlash_Block::find_last_log(void)
{
@ -421,7 +417,6 @@ void DataFlash_Class::_print_log_entry(uint8_t msg_type,
port->println();
}
/*
print FMT specifiers for log dumps where we have wrapped in the
dataflash and so have no formats. This assumes the log being dumped
@ -458,35 +453,35 @@ void DataFlash_Block::LogReadProcess(uint16_t log_num,
StartRead(start_page);
while (true) {
uint8_t data;
while (true) {
uint8_t data;
ReadBlock(&data, 1);
// This is a state machine to read the packets
switch(log_step) {
case 0:
if (data == HEAD_BYTE1) {
log_step++;
// This is a state machine to read the packets
switch(log_step) {
case 0:
if (data == HEAD_BYTE1) {
log_step++;
}
break;
break;
case 1:
if (data == HEAD_BYTE2) {
log_step++;
case 1:
if (data == HEAD_BYTE2) {
log_step++;
} else {
log_step = 0;
}
break;
log_step = 0;
}
break;
case 2:
log_step = 0;
case 2:
log_step = 0;
if (first_entry && data != LOG_FORMAT_MSG) {
_print_log_formats(port);
}
first_entry = false;
_print_log_entry(data, print_mode, port);
break;
}
}
uint16_t new_page = GetPage();
if (new_page != page) {
if (new_page == end_page+1 || new_page == start_page) {
@ -494,7 +489,7 @@ void DataFlash_Block::LogReadProcess(uint16_t log_num,
}
page = new_page;
}
}
}
}
/*
@ -619,7 +614,6 @@ void DataFlash_Class::Log_Write_Format(const struct LogStructure *s)
WriteBlock(&pkt, sizeof(pkt));
}
/*
write a parameter to the log
*/
@ -666,8 +660,6 @@ void DataFlash_Class::Log_Write_Parameters(void)
}
}
// Write an GPS packet
void DataFlash_Class::Log_Write_GPS(const AP_GPS &gps, uint8_t i, int32_t relative_alt)
{
@ -772,7 +764,7 @@ void DataFlash_Class::Log_Write_Baro(AP_Baro &baro)
LOG_PACKET_HEADER_INIT(LOG_BARO_MSG),
timestamp : now,
altitude : baro.get_altitude(0),
pressure : baro.get_pressure(0),
pressure : baro.get_pressure(0),
temperature : (int16_t)(baro.get_temperature(0) * 100),
climbrate : baro.get_climb_rate()
};
@ -941,7 +933,7 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
};
WriteBlock(&pkt, sizeof(pkt));
// Write second EKF packet
// Write second EKF packet
float ratio;
float az1bias, az2bias;
Vector3f wind;
@ -969,11 +961,11 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
};
WriteBlock(&pkt2, sizeof(pkt2));
// Write third EKF packet
Vector3f velInnov;
Vector3f posInnov;
Vector3f magInnov;
float tasInnov;
// Write third EKF packet
Vector3f velInnov;
Vector3f posInnov;
Vector3f magInnov;
float tasInnov;
ahrs.get_NavEKF().getInnovations(velInnov, posInnov, magInnov, tasInnov);
struct log_EKF3 pkt3 = {
LOG_PACKET_HEADER_INIT(LOG_EKF3_MSG),
@ -990,13 +982,13 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
innovVT : (int16_t)(100*tasInnov)
};
WriteBlock(&pkt3, sizeof(pkt3));
// Write fourth EKF packet
// Write fourth EKF packet
float velVar;
float posVar;
float hgtVar;
Vector3f magVar;
float tasVar;
Vector3f magVar;
float tasVar;
Vector2f offset;
uint8_t faultStatus, timeoutStatus;
nav_filter_status solutionStatus;