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AP_DAL: pack RFRN more efficiently

This commit is contained in:
Andrew Tridgell 2020-11-08 15:03:05 +11:00
parent a08a1a4247
commit f145afabf3
3 changed files with 9 additions and 12 deletions
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5
libraries/AP_DAL/AP_DAL.cpp
View File

@ -47,10 +47,7 @@ void AP_DAL::start_frame(AP_DAL::FrameType frametype)
// update RFRN data
const log_RFRN old = _RFRN;
_RFRN.state_bitmask = 0;
if (hal.util->get_soft_armed()) {
_RFRN.state_bitmask |= uint8_t(StateMask::ARMED);
}
_RFRN.armed = hal.util->get_soft_armed();
_home = ahrs.get_home();
_RFRN.lat = _home.lat;
_RFRN.lng = _home.lng;

2
libraries/AP_DAL/AP_DAL.h
View File

@ -111,7 +111,7 @@ public:
bool ekf_low_time_remaining(EKFType etype, uint8_t core);
// returns armed state for the current frame
bool get_armed() const { return _RFRN.state_bitmask & uint8_t(StateMask::ARMED); }
bool get_armed() const { return _RFRN.armed; }
// memory available at start of current frame. While this could
// potentially change as we go through the frame, the

14
libraries/AP_DAL/LogStructure.h
View File

@ -58,14 +58,14 @@ struct log_RFRN {
int32_t alt;
float EAS2TAS;
uint32_t available_memory;
uint8_t state_bitmask;
uint8_t rangefinder_ptr_is_null;
uint8_t get_compass_is_null;
uint8_t airspeed_ptr_is_null;
uint8_t fly_forward;
uint8_t vehicle_class;
uint8_t ahrs_airspeed_sensor_enabled;
uint8_t ekf_type;
uint8_t armed:1;
uint8_t rangefinder_ptr_is_null:1;
uint8_t get_compass_is_null:1;
uint8_t airspeed_ptr_is_null:1;
uint8_t fly_forward:1;
uint8_t ahrs_airspeed_sensor_enabled:1;
uint8_t _end;
};
@ -377,7 +377,7 @@ struct log_RBOH {
{ LOG_RFRF_MSG, RLOG_SIZE(RFRF), \
"RFRF", "BB", "FTypes,Slow", "--", "--" }, \
{ LOG_RFRN_MSG, RLOG_SIZE(RFRN), \
"RFRN", "IIIfIBBBBBBBB", "HLat,HLon,HAlt,E2T,AM,State,NlRF,NlCRP,NlAS,FF,VC,ASE,EKT", "DUm??????????", "GGB----------" }, \
"RFRN", "IIIfIBBB", "HLat,HLon,HAlt,E2T,AM,VC,EKT,Flags", "DUm?????", "GGB-----" }, \
{ LOG_REV2_MSG, RLOG_SIZE(REV2), \
"REV2", "B", "Event", "-", "-" }, \
{ LOG_RSO2_MSG, RLOG_SIZE(RSO2), \