mirror of https://github.com/ArduPilot/ardupilot
AP_Logger: remove `Write_ServoStatus` and `CSRV` definition
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@ -262,8 +262,6 @@ public:
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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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void Write_MessageF(const char *fmt, ...);
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void Write_ServoStatus(uint64_t time_us, uint8_t id, float position, float force, float speed, uint8_t power_pct,
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float pos_cmd, float voltage, float current, float mot_temp, float pcb_temp, uint8_t error);
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void Write_Compass();
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void Write_Mode(uint8_t mode, const ModeReason reason);
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@ -452,31 +452,6 @@ bool AP_Logger_Backend::Write_Mode(uint8_t mode, const ModeReason reason)
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return WriteCriticalBlock(&pkt, sizeof(pkt));
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}
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/*
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write servo status from CAN servo
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*/
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void AP_Logger::Write_ServoStatus(uint64_t time_us, uint8_t id, float position, float force, float speed, uint8_t power_pct,
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float pos_cmd, float voltage, float current, float mot_temp, float pcb_temp, uint8_t error)
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{
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const struct log_CSRV pkt {
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LOG_PACKET_HEADER_INIT(LOG_CSRV_MSG),
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time_us : time_us,
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id : id,
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position : position,
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force : force,
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speed : speed,
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power_pct : power_pct,
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pos_cmd : pos_cmd,
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voltage : voltage,
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current : current,
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mot_temp : mot_temp,
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pcb_temp : pcb_temp,
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error : error,
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};
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WriteBlock(&pkt, sizeof(pkt));
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}
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// Write a Yaw PID packet
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void AP_Logger::Write_PID(uint8_t msg_type, const AP_PIDInfo &info)
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{
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@ -148,6 +148,7 @@ const struct MultiplierStructure log_Multipliers[] = {
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#include <AC_AttitudeControl/LogStructure.h>
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#include <AP_HAL/LogStructure.h>
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#include <AP_Mission/LogStructure.h>
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#include <AP_Servo_Telem/LogStructure.h>
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// structure used to define logging format
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// It is packed on ChibiOS to save flash space; however, this causes problems
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@ -477,22 +478,6 @@ struct PACKED log_TERRAIN {
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float reference_offset;
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};
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struct PACKED log_CSRV {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t id;
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float position;
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float force;
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float speed;
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uint8_t power_pct;
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float pos_cmd;
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float voltage;
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float current;
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float mot_temp;
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float pcb_temp;
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uint8_t error;
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};
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struct PACKED log_ARSP {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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@ -699,21 +684,6 @@ struct PACKED log_VER {
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// @Field: TR: innovation test ratio
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// @Field: Pri: True if sensor is the primary sensor
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// @LoggerMessage: CSRV
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// @Description: Servo feedback data
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// @Field: TimeUS: Time since system startup
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// @Field: Id: Servo number this data relates to
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// @Field: Pos: Current servo position
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// @Field: Force: Force being applied
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// @Field: Speed: Current servo movement speed
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// @Field: Pow: Amount of rated power being applied
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// @Field: PosCmd: commanded servo position
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// @Field: V: Voltage
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// @Field: A: Current
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// @Field: MotT: motor temperature
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// @Field: PCBT: PCB temperature
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// @Field: Err: error flags
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// @LoggerMessage: DMS
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// @Description: DataFlash-Over-MAVLink statistics
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// @Field: TimeUS: Time since system startup
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@ -1223,8 +1193,7 @@ LOG_STRUCTURE_FROM_AVOIDANCE \
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{ LOG_TERRAIN_MSG, sizeof(log_TERRAIN), \
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"TERR","QBLLHffHHf","TimeUS,Status,Lat,Lng,Spacing,TerrH,CHeight,Pending,Loaded,ROfs", "s-DU-mm--m", "F-GG-00--0", true }, \
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LOG_STRUCTURE_FROM_ESC_TELEM \
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{ LOG_CSRV_MSG, sizeof(log_CSRV), \
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"CSRV","QBfffBfffffB","TimeUS,Id,Pos,Force,Speed,Pow,PosCmd,V,A,MotT,PCBT,Err", "s#---%dvAOO-", "F-000000000-", false }, \
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LOG_STRUCTURE_FROM_SERVO_TELEM \
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{ LOG_PIDR_MSG, sizeof(log_PID), \
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"PIDR", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS, true }, \
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{ LOG_PIDP_MSG, sizeof(log_PID), \
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@ -1307,7 +1276,7 @@ enum LogMessages : uint8_t {
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LOG_IDS_FROM_CAMERA,
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LOG_IDS_FROM_MOUNT,
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LOG_TERRAIN_MSG,
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LOG_CSRV_MSG,
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LOG_IDS_FROM_SERVO_TELEM,
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LOG_IDS_FROM_ESC_TELEM,
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LOG_IDS_FROM_BATTMONITOR,
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LOG_IDS_FROM_HAL_CHIBIOS,
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