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AP_Logger: remove time_us parameter to several sensor logging methods

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These were used by the old Replay code to try to provide a frame of
sensor data by correlating the timestamps.  That Replay code has been
removed.
This commit is contained in:
Peter Barker 2020-11-20 09:25:51 +11:00 committed by Andrew Tridgell
parent e257dd9fee
commit d50e4d03f4
2 changed files with 10 additions and 16 deletions
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6
libraries/AP_Logger/AP_Logger.h
View File

@ -229,7 +229,7 @@ public:
void Write_Event(LogEvent id); void Write_Event(LogEvent id);
void Write_Error(LogErrorSubsystem sub_system, void Write_Error(LogErrorSubsystem sub_system,
LogErrorCode error_code); LogErrorCode error_code);
void Write_GPS(uint8_t instance, uint64_t time_us=0); void Write_GPS(uint8_t instance);
void Write_IMU(); void Write_IMU();
bool Write_ISBH(uint16_t seqno, bool Write_ISBH(uint16_t seqno,
AP_InertialSensor::IMU_SENSOR_TYPE sensor_type, AP_InertialSensor::IMU_SENSOR_TYPE sensor_type,
@ -248,7 +248,7 @@ public:
void Write_RCOUT(void); void Write_RCOUT(void);
void Write_RSSI(); void Write_RSSI();
void Write_Rally(); void Write_Rally();
void Write_Baro(uint64_t time_us=0); void Write_Baro();
void Write_Power(void); void Write_Power(void);
void Write_AHRS2(); void Write_AHRS2();
void Write_POS(); void Write_POS();
@ -264,7 +264,7 @@ public:
void Write_Attitude(const Vector3f &targets); void Write_Attitude(const Vector3f &targets);
void Write_AttitudeView(AP_AHRS_View &ahrs, const Vector3f &targets); void Write_AttitudeView(AP_AHRS_View &ahrs, const Vector3f &targets);
void Write_Current(); void Write_Current();
void Write_Compass(uint64_t time_us=0); void Write_Compass();
void Write_Mode(uint8_t mode, const ModeReason reason); void Write_Mode(uint8_t mode, const ModeReason reason);
void Write_EntireMission(); void Write_EntireMission();

20
libraries/AP_Logger/LogFile.cpp
View File

@ -131,12 +131,10 @@ bool AP_Logger_Backend::Write_Parameter(const AP_Param *ap,
} }
// Write an GPS packet // Write an GPS packet
void AP_Logger::Write_GPS(uint8_t i, uint64_t time_us) void AP_Logger::Write_GPS(uint8_t i)
{ {
const AP_GPS &gps = AP::gps(); const AP_GPS &gps = AP::gps();
if (time_us == 0) { const uint64_t time_us = AP_HAL::micros64();
time_us = AP_HAL::micros64();
}
const struct Location &loc = gps.location(i); const struct Location &loc = gps.location(i);
float yaw_deg=0, yaw_accuracy_deg=0; float yaw_deg=0, yaw_accuracy_deg=0;
@ -290,11 +288,9 @@ void AP_Logger::Write_Baro_instance(uint64_t time_us, uint8_t baro_instance)
} }
// Write a BARO packet // Write a BARO packet
void AP_Logger::Write_Baro(uint64_t time_us) void AP_Logger::Write_Baro()
{ {
if (time_us == 0) { const uint64_t time_us = AP_HAL::micros64();
time_us = AP_HAL::micros64();
}
const AP_Baro &baro = AP::baro(); const AP_Baro &baro = AP::baro();
for (uint8_t i=0; i< baro.num_instances(); i++) { for (uint8_t i=0; i< baro.num_instances(); i++) {
Write_Baro_instance(time_us, i); Write_Baro_instance(time_us, i);
@ -330,7 +326,7 @@ void AP_Logger::Write_IMU_instance(const uint64_t time_us, const uint8_t imu_ins
// Write an raw accel/gyro data packet // Write an raw accel/gyro data packet
void AP_Logger::Write_IMU() void AP_Logger::Write_IMU()
{ {
uint64_t time_us = AP_HAL::micros64(); const uint64_t time_us = AP_HAL::micros64();
const AP_InertialSensor &ins = AP::ins(); const AP_InertialSensor &ins = AP::ins();
@ -692,11 +688,9 @@ void AP_Logger::Write_Compass_instance(const uint64_t time_us, const uint8_t mag
} }
// Write a Compass packet // Write a Compass packet
void AP_Logger::Write_Compass(uint64_t time_us) void AP_Logger::Write_Compass()
{ {
if (time_us == 0) { const uint64_t time_us = AP_HAL::micros64();
time_us = AP_HAL::micros64();
}
const Compass &compass = AP::compass(); const Compass &compass = AP::compass();
for (uint8_t i=0; i<compass.get_count(); i++) { for (uint8_t i=0; i<compass.get_count(); i++) {
Write_Compass_instance(time_us, i); Write_Compass_instance(time_us, i);