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Copter: Baro does its own dataflash logging

This commit is contained in:
Peter Barker 2018-04-11 22:50:53 +10:00 committed by Francisco Ferreira
parent 2b54113334
commit c95ff96263
4 changed files with 2 additions and 12 deletions
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1
ArduCopter/Copter.h
View File

@ -828,7 +828,6 @@ private:
void Log_Write_Data(uint8_t id, uint16_t value); void Log_Write_Data(uint8_t id, uint16_t value);
void Log_Write_Data(uint8_t id, float value); void Log_Write_Data(uint8_t id, float value);
void Log_Write_Error(uint8_t sub_system, uint8_t error_code); void Log_Write_Error(uint8_t sub_system, uint8_t error_code);
void Log_Write_Baro(void);
void Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t control_in, int16_t tune_low, int16_t tune_high); void Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t control_in, int16_t tune_low, int16_t tune_high);
void Log_Write_Home_And_Origin(); void Log_Write_Home_And_Origin();
void Log_Sensor_Health(); void Log_Sensor_Health();

8
ArduCopter/Log.cpp
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@ -336,13 +336,6 @@ void Copter::Log_Write_Error(uint8_t sub_system, uint8_t error_code)
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt)); DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
} }
void Copter::Log_Write_Baro(void)
{
if (!ahrs.have_ekf_logging()) {
DataFlash.Log_Write_Baro();
}
}
struct PACKED log_ParameterTuning { struct PACKED log_ParameterTuning {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint64_t time_us; uint64_t time_us;
@ -616,7 +609,6 @@ void Copter::Log_Write_Data(uint8_t id, int16_t value) {}
void Copter::Log_Write_Data(uint8_t id, uint16_t value) {} void Copter::Log_Write_Data(uint8_t id, uint16_t value) {}
void Copter::Log_Write_Data(uint8_t id, float value) {} void Copter::Log_Write_Data(uint8_t id, float value) {}
void Copter::Log_Write_Error(uint8_t sub_system, uint8_t error_code) {} void Copter::Log_Write_Error(uint8_t sub_system, uint8_t error_code) {}
void Copter::Log_Write_Baro(void) {}
void Copter::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t control_in, int16_t tune_low, int16_t tune_high) {} void Copter::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t control_in, int16_t tune_low, int16_t tune_high) {}
void Copter::Log_Write_Home_And_Origin() {} void Copter::Log_Write_Home_And_Origin() {}
void Copter::Log_Sensor_Health() {} void Copter::Log_Sensor_Health() {}

4
ArduCopter/sensors.cpp
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@ -4,9 +4,7 @@
void Copter::read_barometer(void) void Copter::read_barometer(void)
{ {
barometer.update(); barometer.update();
if (should_log(MASK_LOG_IMU)) {
Log_Write_Baro();
}
baro_alt = barometer.get_altitude() * 100.0f; baro_alt = barometer.get_altitude() * 100.0f;
baro_climbrate = barometer.get_climb_rate() * 100.0f; baro_climbrate = barometer.get_climb_rate() * 100.0f;

1
ArduCopter/system.cpp
View File

@ -210,6 +210,7 @@ void Copter::init_ardupilot()
// read Baro pressure at ground // read Baro pressure at ground
//----------------------------- //-----------------------------
barometer.set_log_baro_bit(MASK_LOG_IMU);
barometer.calibrate(); barometer.calibrate();
// initialise rangefinder // initialise rangefinder