From d5c67e0b073e90497ca498f04c2803064e164b15 Mon Sep 17 00:00:00 2001
From: Tom Pittenger <magicrub@gmail.com>
Date: Mon, 4 Feb 2019 22:00:15 -0700
Subject: [PATCH] Rover: move wheelEncoder logging to library

---
 APMrover2/APMrover2.cpp |  2 +-
 APMrover2/Log.cpp       | 31 -------------------------------
 APMrover2/Rover.h       |  1 -
 APMrover2/defines.h     |  1 -
 4 files changed, 1 insertion(+), 34 deletions(-)

diff --git a/APMrover2/APMrover2.cpp b/APMrover2/APMrover2.cpp
index 7d5b4ec1b5..d4474f8abe 100644
--- a/APMrover2/APMrover2.cpp
+++ b/APMrover2/APMrover2.cpp
@@ -245,7 +245,7 @@ void Rover::update_logging2(void)
 
     if (should_log(MASK_LOG_RC)) {
         Log_Write_RC();
-        Log_Write_WheelEncoder();
+        g2.wheel_encoder.Log_Write();
     }
 
     if (should_log(MASK_LOG_IMU)) {
diff --git a/APMrover2/Log.cpp b/APMrover2/Log.cpp
index 6a02061d0b..0d7dff08ac 100644
--- a/APMrover2/Log.cpp
+++ b/APMrover2/Log.cpp
@@ -307,34 +307,6 @@ void Rover::Log_Write_RC(void)
     }
 }
 
-// wheel encoder packet
-struct PACKED log_WheelEncoder {
-    LOG_PACKET_HEADER;
-    uint64_t time_us;
-    float distance_0;
-    uint8_t quality_0;
-    float distance_1;
-    uint8_t quality_1;
-};
-
-// log wheel encoder information
-void Rover::Log_Write_WheelEncoder()
-{
-    // return immediately if no wheel encoders are enabled
-    if (!g2.wheel_encoder.enabled(0) && !g2.wheel_encoder.enabled(1)) {
-        return;
-    }
-    struct log_WheelEncoder pkt = {
-        LOG_PACKET_HEADER_INIT(LOG_WHEELENCODER_MSG),
-        time_us     : AP_HAL::micros64(),
-        distance_0  : g2.wheel_encoder.get_distance(0),
-        quality_0   : (uint8_t)constrain_float(g2.wheel_encoder.get_signal_quality(0), 0.0f, 100.0f),
-        distance_1  : g2.wheel_encoder.get_distance(1),
-        quality_1   : (uint8_t)constrain_float(g2.wheel_encoder.get_signal_quality(1), 0.0f, 100.0f)
-    };
-    logger.WriteBlock(&pkt, sizeof(pkt));
-}
-
 void Rover::Log_Write_Vehicle_Startup_Messages()
 {
     // only 200(?) bytes are guaranteed by AP_Logger
@@ -365,8 +337,6 @@ const LogStructure Rover::log_structure[] = {
       "GUID",  "QBffffff",    "TimeUS,Type,pX,pY,pZ,vX,vY,vZ", "s-mmmnnn", "F-000000" },
     { LOG_ERROR_MSG, sizeof(log_Error),
       "ERR",   "QBB",         "TimeUS,Subsys,ECode", "s--", "F--" },
-    { LOG_WHEELENCODER_MSG, sizeof(log_WheelEncoder),
-      "WENC",  "Qfbfb", "TimeUS,Dist0,Qual0,Dist1,Qual1", "sm-m-", "F0-0-" },
 };
 
 void Rover::log_init(void)
@@ -389,7 +359,6 @@ void Rover::Log_Write_Throttle() {}
 void Rover::Log_Write_Rangefinder() {}
 void Rover::Log_Write_RC(void) {}
 void Rover::Log_Write_Steering() {}
-void Rover::Log_Write_WheelEncoder() {}
 void Rover::Log_Write_Vehicle_Startup_Messages() {}
 
 #endif  // LOGGING_ENABLED
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index f3e667d289..335ed029d2 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -460,7 +460,6 @@ private:
     void Log_Write_Throttle();
     void Log_Write_Rangefinder();
     void Log_Write_RC(void);
-    void Log_Write_WheelEncoder();
     void Log_Write_Vehicle_Startup_Messages();
     void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page);
     void log_init(void);
diff --git a/APMrover2/defines.h b/APMrover2/defines.h
index 343d55a189..7626f74bd1 100644
--- a/APMrover2/defines.h
+++ b/APMrover2/defines.h
@@ -29,7 +29,6 @@
 #define LOG_ARM_DISARM_MSG      0x08
 #define LOG_STEERING_MSG        0x0D
 #define LOG_GUIDEDTARGET_MSG    0x0E
-#define LOG_WHEELENCODER_MSG    0x0F
 #define LOG_ERROR_MSG           0x13
 
 #define TYPE_AIRSTART_MSG       0x00