Plane: DFMessageWriter; ability to trickle messages out to DF

ArduPlane/ArduPlane.cpp

@@ -80,6 +80,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] PROGMEM = {
 #endif
     SCHED_TASK(terrain_update,          5,    500),
     SCHED_TASK(update_is_flying_5Hz,   10,    100),
+    SCHED_TASK(dataflash_periodic,      1,    300),
 };
 
 void Plane::setup() 
@@ -368,6 +369,11 @@ void Plane::terrain_update(void)
 #endif
 }
 
+void Plane::dataflash_periodic(void)
+{
+    DataFlash.periodic_tasks();
+}
+
 /*
   once a second update the airspeed calibration ratio
  */

ArduPlane/Log.cpp

@@ -228,7 +228,8 @@ struct PACKED log_Startup {
     uint16_t command_total;
 };
 
-void Plane::Log_Write_Startup(uint8_t type)
+// do not add any extra log writes to this function; see LogStartup.cpp
+bool Plane::Log_Write_Startup(uint8_t type)
 {
     struct log_Startup pkt = {
         LOG_PACKET_HEADER_INIT(LOG_STARTUP_MSG),
@@ -236,12 +237,7 @@ void Plane::Log_Write_Startup(uint8_t type)
         startup_type    : type,
         command_total   : mission.num_commands()
     };
-    DataFlash.WriteBlock(&pkt, sizeof(pkt));
+    return DataFlash.WriteBlock(&pkt, sizeof(pkt));
-
-    // write all commands to the dataflash as well
-    if (should_log(MASK_LOG_CMD)) {
-        DataFlash.Log_Write_EntireMission(mission);
-    }
 }
 
 struct PACKED log_Control_Tuning {
@@ -517,14 +513,21 @@ void Plane::Log_Read(uint16_t log_num, int16_t start_page, int16_t end_page)
 }
 #endif // CLI_ENABLED
 
+void Plane::Log_Write_Vehicle_Startup_Messages()
+{
+    // only 200(?) bytes are guaranteed by DataFlash
+    Log_Write_Startup(TYPE_GROUNDSTART_MSG);
+}
+
 // start a new log
 void Plane::start_logging() 
 {
+    DataFlash.set_mission(&mission);
+    DataFlash.setVehicle_Startup_Log_Writer(
+        FUNCTOR_BIND(&plane, &Plane::Log_Write_Vehicle_Startup_Messages, void)
+        );
+
     DataFlash.StartNewLog();
-
-    DataFlash.Log_Write_SysInfo(PSTR(FIRMWARE_STRING));
-
-    Log_Write_Startup(TYPE_GROUNDSTART_MSG);
 }
 
 /*

ArduPlane/Plane.h

@@ -1,6 +1,7 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-#ifndef _PLANE_H_
+
-#define _PLANE_H_
+#ifndef _PLANE_H
+#define _PLANE_H
 
 #define THISFIRMWARE "ArduPlane V3.4.0beta1"
 #define FIRMWARE_VERSION 3,4,0,FIRMWARE_VERSION_TYPE_BETA
@@ -163,7 +164,7 @@ private:
     // notification object for LEDs, buzzers etc (parameter set to false disables external leds)
     AP_Notify notify;
 
-    DataFlash_Class DataFlash;
+    DataFlash_Class DataFlash{FIRMWARE_STRING};
 
     // has a log download started?
     bool in_log_download;
@@ -698,10 +699,11 @@ private:
     void gcs_send_text_P(MAV_SEVERITY severity, const prog_char_t *str);
     void gcs_send_airspeed_calibration(const Vector3f &vg);
     void gcs_retry_deferred(void);
+
     void do_erase_logs(void);
     void Log_Write_Attitude(void);
     void Log_Write_Performance();
-    void Log_Write_Startup(uint8_t type);
+    bool Log_Write_Startup(uint8_t type);
     void Log_Write_Control_Tuning();
     void Log_Write_TECS_Tuning(void);
     void Log_Write_Nav_Tuning();
@@ -716,8 +718,10 @@ private:
     void Log_Write_Baro(void);
     void Log_Write_Airspeed(void);
     void Log_Write_Home_And_Origin();
+    void Log_Write_Vehicle_Startup_Messages();
     void Log_Read(uint16_t log_num, int16_t start_page, int16_t end_page);
     void start_logging();
+
     void load_parameters(void);
     void adjust_altitude_target();
     void setup_glide_slope(void);
@@ -943,6 +947,7 @@ private:
     uint32_t millis() const;
     uint32_t micros() const;
     void init_capabilities(void);
+    void dataflash_periodic(void);
 
 public:
     void mavlink_delay_cb();

ArduPlane/system.cpp

@@ -242,7 +242,6 @@ void Plane::init_ardupilot()
     init_capabilities();
 
     startup_ground();
-    Log_Write_Startup(TYPE_GROUNDSTART_MSG);
 
     // choose the nav controller
     set_nav_controller();
@@ -718,6 +717,7 @@ void Plane::servo_write(uint8_t ch, uint16_t pwm)
  */
 bool Plane::should_log(uint32_t mask)
 {
+#if LOGGING_ENABLED == ENABLED
     if (!(mask & g.log_bitmask) || in_mavlink_delay) {
         return false;
     }
@@ -725,13 +725,12 @@ bool Plane::should_log(uint32_t mask)
     if (ret && !DataFlash.logging_started() && !in_log_download) {
         // we have to set in_mavlink_delay to prevent logging while
         // writing headers
-        in_mavlink_delay = true;
-        #if LOGGING_ENABLED == ENABLED
         start_logging();
-        #endif
-        in_mavlink_delay = false;
     }
     return ret;
+#else
+    return false;
+#endif
 }
 
 /*