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AP_Logger: Support new ModeReason

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This commit is contained in:
Michael du Breuil 2019-10-16 20:48:00 -07:00 committed by Randy Mackay
parent cb1b236439
commit c369139be0
4 changed files with 7 additions and 5 deletions
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2
libraries/AP_Logger/AP_Logger.cpp
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@ -705,7 +705,7 @@ void AP_Logger::Write_Message(const char *message)
FOR_EACH_BACKEND(Write_Message(message));
}
void AP_Logger::Write_Mode(uint8_t mode, uint8_t reason)
void AP_Logger::Write_Mode(uint8_t mode, const ModeReason reason)
{
FOR_EACH_BACKEND(Write_Mode(mode, reason));
}

3
libraries/AP_Logger/AP_Logger.h
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@ -18,6 +18,7 @@
#include <AP_Beacon/AP_Beacon.h>
#include <AP_Proximity/AP_Proximity.h>
#include <AP_InertialSensor/AP_InertialSensor_Backend.h>
#include <AP_Vehicle/ModeReason.h>
#include <stdint.h>
@ -258,7 +259,7 @@ public:
void Write_AttitudeView(AP_AHRS_View &ahrs, const Vector3f &targets);
void Write_Current();
void Write_Compass(uint64_t time_us=0);
void Write_Mode(uint8_t mode, uint8_t reason);
void Write_Mode(uint8_t mode, const ModeReason reason);
void Write_EntireMission();
void Write_Command(const mavlink_command_int_t &packet, MAV_RESULT result, bool was_command_long=false);

2
libraries/AP_Logger/AP_Logger_Backend.h
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@ -93,7 +93,7 @@ public:
bool Write_MessageF(const char *fmt, ...);
bool Write_Mission_Cmd(const AP_Mission &mission,
const AP_Mission::Mission_Command &cmd);
bool Write_Mode(uint8_t mode, uint8_t reason = 0);
bool Write_Mode(uint8_t mode, const ModeReason reason = ModeReason::UNKNOWN);
bool Write_Parameter(const char *name, float value);
bool Write_Parameter(const AP_Param *ap,
const AP_Param::ParamToken &token,

5
libraries/AP_Logger/LogFile.cpp
View File

@ -760,14 +760,15 @@ void AP_Logger::Write_Compass(uint64_t time_us)
}
// Write a mode packet.
bool AP_Logger_Backend::Write_Mode(uint8_t mode, uint8_t reason)
bool AP_Logger_Backend::Write_Mode(uint8_t mode, const ModeReason reason)
{
static_assert(sizeof(ModeReason) <= sizeof(uint8_t), "Logging expects the ModeReason to fit in 8 bits");
const struct log_Mode pkt{
LOG_PACKET_HEADER_INIT(LOG_MODE_MSG),
time_us : AP_HAL::micros64(),
mode : mode,
mode_num : mode,
mode_reason : reason
mode_reason : static_cast<uint8_t>(reason)
};
return WriteCriticalBlock(&pkt, sizeof(pkt));
}