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Sub: Move battery logging to AP_BattMonitor

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This commit is contained in:
Michael du Breuil 2018-01-16 12:17:36 -07:00 committed by Francisco Ferreira
parent 2e9e91b3a3
commit 02a660e0ce
3 changed files with 2 additions and 22 deletions
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10
ArduSub/Log.cpp
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@ -12,15 +12,6 @@ void Sub::do_erase_logs(void)
gcs().send_text(MAV_SEVERITY_INFO, "Log erase complete"); gcs().send_text(MAV_SEVERITY_INFO, "Log erase complete");
} }
// Write a Current data packet
void Sub::Log_Write_Current()
{
DataFlash.Log_Write_Current(battery);
// also write power status
DataFlash.Log_Write_Power();
}
struct PACKED log_Optflow { struct PACKED log_Optflow {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint64_t time_us; uint64_t time_us;
@ -472,7 +463,6 @@ void Sub::log_init(void)
#else // LOGGING_ENABLED #else // LOGGING_ENABLED
void Sub::do_erase_logs(void) {} void Sub::do_erase_logs(void) {}
void Sub::Log_Write_Current() {}
void Sub::Log_Write_Nav_Tuning() {} void Sub::Log_Write_Nav_Tuning() {}
void Sub::Log_Write_Control_Tuning() {} void Sub::Log_Write_Control_Tuning() {}
void Sub::Log_Write_Performance() {} void Sub::Log_Write_Performance() {}

3
ArduSub/Sub.h
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@ -328,7 +328,7 @@ private:
uint32_t nav_delay_time_start; uint32_t nav_delay_time_start;
// Battery Sensors // Battery Sensors
AP_BattMonitor battery; AP_BattMonitor battery{MASK_LOG_CURRENT};
AP_Arming_Sub arming{ahrs, barometer, compass, battery}; AP_Arming_Sub arming{ahrs, barometer, compass, battery};
@ -507,7 +507,6 @@ private:
void gcs_data_stream_send(void); void gcs_data_stream_send(void);
void gcs_check_input(void); void gcs_check_input(void);
void do_erase_logs(void); void do_erase_logs(void);
void Log_Write_Current();
void Log_Write_Optflow(); void Log_Write_Optflow();
void Log_Write_Nav_Tuning(); void Log_Write_Nav_Tuning();
void Log_Write_Control_Tuning(); void Log_Write_Control_Tuning();

11
ArduSub/sensors.cpp
View File

@ -174,11 +174,6 @@ void Sub::read_battery(void)
{ {
battery.read(); battery.read();
// update compass with current value
if (battery.has_current()) {
compass.set_current(battery.current_amps());
}
// update motors with voltage and current // update motors with voltage and current
if (battery.get_type() != AP_BattMonitor_Params::BattMonitor_TYPE_NONE) { if (battery.get_type() != AP_BattMonitor_Params::BattMonitor_TYPE_NONE) {
motors.set_voltage(battery.voltage()); motors.set_voltage(battery.voltage());
@ -186,14 +181,10 @@ void Sub::read_battery(void)
if (battery.has_current()) { if (battery.has_current()) {
motors.set_current(battery.current_amps()); motors.set_current(battery.current_amps());
compass.set_current(battery.current_amps());
} }
failsafe_battery_check(); failsafe_battery_check();
// log battery info to the dataflash
if (should_log(MASK_LOG_CURRENT)) {
Log_Write_Current();
}
} }
void Sub::compass_cal_update() void Sub::compass_cal_update()