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Copter: start dataflash logging when arming

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Stop nearly empty logs from being produced.
Removed redundant armed bit from ap state.
This commit is contained in:
Randy Mackay 2013-05-03 14:49:01 +09:00
parent 58d5fab412
commit cca05ee8ae
5 changed files with 9 additions and 24 deletions
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15
ArduCopter/AP_State.pde
View File

@ -13,21 +13,6 @@ void set_home_is_set(bool b)
}
}
// ---------------------------------------------
void set_armed(bool b)
{
// if no change, exit immediately
if( ap.armed == b )
return;
ap.armed = b;
if(b){
Log_Write_Event(DATA_ARMED);
}else{
Log_Write_Event(DATA_DISARMED);
}
}
// ---------------------------------------------
void set_auto_armed(bool b)
{

2
ArduCopter/ArduCopter.pde
View File

@ -366,7 +366,7 @@ static union {
uint8_t low_battery : 1; // 4 // Used to track if the battery is low - LED output flashes when the batt is low
uint8_t pre_arm_check : 1; // 5 // true if the radio and accel calibration have been performed
uint8_t armed : 1; // 6
uint8_t logging_started : 1; // 6 // true if dataflash logging has started
uint8_t auto_armed : 1; // 7 // stops auto missions from beginning until throttle is raised
uint8_t failsafe_radio : 1; // 8 // A status flag for the radio failsafe

5
ArduCopter/Log.pde
View File

@ -850,7 +850,10 @@ static void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page)
// start a new log
static void start_logging()
{
DataFlash.StartNewLog(sizeof(log_structure)/sizeof(log_structure[0]), log_structure);
if (g.log_bitmask != 0 && !ap.logging_started) {
ap.logging_started = true;
DataFlash.StartNewLog(sizeof(log_structure)/sizeof(log_structure[0]), log_structure);
}
}
#else // LOGGING_ENABLED

8
ArduCopter/motors.pde
View File

@ -87,10 +87,12 @@ static void init_arm_motors()
// which calibrates the IMU
static bool did_ground_start = false;
// disable failsafe because initialising everything takes a while
// disable cpu failsafe because initialising everything takes a while
failsafe_disable();
// start dataflash
start_logging();
//cliSerial->printf("\nARM\n");
#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
gcs_send_text_P(SEVERITY_HIGH, PSTR("ARMING MOTORS"));
#endif
@ -144,7 +146,6 @@ static void init_arm_motors()
// finally actually arm the motors
motors.armed(true);
set_armed(true);
// reenable failsafe
failsafe_enable();
@ -191,7 +192,6 @@ static void init_disarm_motors()
#endif
motors.armed(false);
set_armed(false);
compass.save_offsets();

3
ArduCopter/system.pde
View File

@ -176,9 +176,6 @@ static void init_ardupilot()
do_erase_logs();
gcs0.reset_cli_timeout();
}
if (g.log_bitmask != 0) {
start_logging();
}
#endif
#if FRAME_CONFIG == HELI_FRAME