mirror of https://github.com/ArduPilot/ardupilot
AP_Logger: Privatize AP_Baro Logging
This commit is contained in:
Josh Henderson
Peter Barker
parent
15ce4fb034
commit
c32dd4bb5d
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@ -309,7 +309,6 @@ public:
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void Write_RCOUT(void);
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void Write_RSSI();
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void Write_Rally();
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void Write_Baro();
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void Write_Power(void);
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void Write_Radio(const mavlink_radio_t &packet);
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void Write_Message(const char *message);
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@ -511,7 +510,6 @@ private:
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// state to help us not log unneccesary RCIN values:
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bool seen_nonzero_rcin15_or_rcin16;
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void Write_Baro_instance(uint64_t time_us, uint8_t baro_instance);
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void Write_IMU_instance(uint64_t time_us, uint8_t imu_instance);
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void Write_Compass_instance(uint64_t time_us, uint8_t mag_instance);
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@ -1,7 +1,6 @@
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#include <stdlib.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Baro/AP_Baro.h>
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#include <AP_Compass/AP_Compass.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Math/AP_Math.h>
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@ -261,38 +260,6 @@ void AP_Logger::Write_RSSI()
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WriteBlock(&pkt, sizeof(pkt));
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}
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void AP_Logger::Write_Baro_instance(uint64_t time_us, uint8_t baro_instance)
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{
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AP_Baro &baro = AP::baro();
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float climbrate = baro.get_climb_rate();
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float drift_offset = baro.get_baro_drift_offset();
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float ground_temp = baro.get_ground_temperature();
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const struct log_BARO pkt{
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LOG_PACKET_HEADER_INIT(LOG_BARO_MSG),
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time_us : time_us,
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instance : baro_instance,
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altitude : baro.get_altitude(baro_instance),
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pressure : baro.get_pressure(baro_instance),
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temperature : (int16_t)(baro.get_temperature(baro_instance) * 100 + 0.5f),
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climbrate : climbrate,
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sample_time_ms: baro.get_last_update(baro_instance),
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drift_offset : drift_offset,
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ground_temp : ground_temp,
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healthy : (uint8_t)baro.healthy(baro_instance)
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};
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WriteBlock(&pkt, sizeof(pkt));
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}
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// Write a BARO packet
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void AP_Logger::Write_Baro()
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{
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const uint64_t time_us = AP_HAL::micros64();
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const AP_Baro &baro = AP::baro();
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for (uint8_t i=0; i< baro.num_instances(); i++) {
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Write_Baro_instance(time_us, i);
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}
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}
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void AP_Logger::Write_IMU_instance(const uint64_t time_us, const uint8_t imu_instance)
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{
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const AP_InertialSensor &ins = AP::ins();
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@ -121,9 +121,9 @@ const struct MultiplierStructure log_Multipliers[] = {
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#include <AP_NavEKF2/LogStructure.h>
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#include <AP_NavEKF3/LogStructure.h>
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#include <AP_BattMonitor/LogStructure.h>
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#include <AP_AHRS/LogStructure.h>
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#include <AP_Camera/LogStructure.h>
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#include <AP_Baro/LogStructure.h>
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// structure used to define logging format
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struct LogStructure {
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@ -354,20 +354,6 @@ struct PACKED log_RSSI {
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float RXRSSI;
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};
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struct PACKED log_BARO {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t instance;
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float altitude;
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float pressure;
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int16_t temperature;
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float climbrate;
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uint32_t sample_time_ms;
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float drift_offset;
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float ground_temp;
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uint8_t healthy;
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};
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struct PACKED log_Optflow {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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@ -1018,19 +1004,6 @@ struct PACKED log_PSC {
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// @Field: Hfp: Probability sensor has failed
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// @Field: Pri: True if sensor is the primary sensor
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// @LoggerMessage: BARO
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// @Description: Gathered Barometer data
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// @Field: TimeUS: Time since system startup
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// @Field: I: barometer sensor instance number
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// @Field: Alt: calculated altitude
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// @Field: Press: measured atmospheric pressure
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// @Field: Temp: measured atmospheric temperature
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// @Field: CRt: derived climb rate from primary barometer
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// @Field: SMS: time last sample was taken
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// @Field: Offset: raw adjustment of barometer altitude, zeroed on calibration, possibly set by GCS
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// @Field: GndTemp: temperature on ground, specified by parameter or measured while on ground
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// @Field: Health: true if barometer is considered healthy
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// @LoggerMessage: BCN
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// @Description: Beacon informtaion
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// @Field: TimeUS: Time since system startup
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@ -1710,8 +1683,7 @@ struct PACKED log_PSC {
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"RCOU", "QHHHHHHHHHHHHHH", "TimeUS,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14", "sYYYYYYYYYYYYYY", "F--------------" }, \
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{ LOG_RSSI_MSG, sizeof(log_RSSI), \
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"RSSI", "Qf", "TimeUS,RXRSSI", "s-", "F-" }, \
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{ LOG_BARO_MSG, sizeof(log_BARO), \
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"BARO", "QBffcfIffB", "TimeUS,I,Alt,Press,Temp,CRt,SMS,Offset,GndTemp,Health", "s#mPOnsmO-", "F-00B0C?0-" }, \
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LOG_STRUCTURE_FROM_BARO \
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{ LOG_POWR_MSG, sizeof(log_POWR), \
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"POWR","QffHHB","TimeUS,Vcc,VServo,Flags,AccFlags,Safety", "svv---", "F00---" }, \
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{ LOG_CMD_MSG, sizeof(log_Cmd), \
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@ -1866,7 +1838,7 @@ enum LogMessages : uint8_t {
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LOG_RCIN2_MSG,
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LOG_RCOUT_MSG,
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LOG_RSSI_MSG,
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LOG_BARO_MSG,
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LOG_IDS_FROM_BARO,
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LOG_POWR_MSG,
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LOG_IDS_FROM_AHRS,
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LOG_SIMSTATE_MSG,
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