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AP_HAL: Ensure scheduler does not log if there is no logger

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Stephen Dade 2019-11-14 15:58:38 +11:00 committed by Andrew Tridgell
parent 08e18ccdfe
commit e1e7c6ea8a
1 changed files with 13 additions and 11 deletions
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24
libraries/AP_HAL_ChibiOS/Scheduler.cpp
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@ -352,17 +352,19 @@ void Scheduler::_monitor_thread(void *arg)
// the main loop has been stuck for at least
// 200ms. Starting logging the main loop state
const AP_HAL::Util::PersistentData &pd = hal.util->persistent_data;
AP::logger().Write("MON", "TimeUS,LDelay,Task,IErr,IErrCnt,MavMsg,MavCmd,SemLine,SPICnt,I2CCnt", "QIbIIHHHII",
AP_HAL::micros64(),
loop_delay,
pd.scheduler_task,
pd.internal_errors,
pd.internal_error_count,
pd.last_mavlink_msgid,
pd.last_mavlink_cmd,
pd.semaphore_line,
pd.spi_count,
pd.i2c_count);
if (AP_Logger::get_singleton()) {
AP::logger().Write("MON", "TimeUS,LDelay,Task,IErr,IErrCnt,MavMsg,MavCmd,SemLine,SPICnt,I2CCnt", "QIbIIHHHII",
AP_HAL::micros64(),
loop_delay,
pd.scheduler_task,
pd.internal_errors,
pd.internal_error_count,
pd.last_mavlink_msgid,
pd.last_mavlink_cmd,
pd.semaphore_line,
pd.spi_count,
pd.i2c_count);
}
}
if (loop_delay >= 500) {
// at 500ms we declare an internal error