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Copter: move Log_Write_Home_And_Origin into AP_AHRS

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Peter Barker 2018-05-16 13:29:13 +10:00 committed by Andrew Tridgell
parent a52f3d8f70
commit 0dc0e54767
3 changed files with 3 additions and 20 deletions
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1
ArduCopter/Copter.h
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@ -806,7 +806,6 @@ private:
void Log_Write_Data(uint8_t id, float value); void Log_Write_Data(uint8_t id, float value);
void Log_Write_Error(uint8_t sub_system, uint8_t error_code); void Log_Write_Error(uint8_t sub_system, uint8_t error_code);
void Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t control_in, int16_t tune_low, int16_t tune_high); void Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t control_in, int16_t tune_low, int16_t tune_high);
void Log_Write_Home_And_Origin();
void Log_Sensor_Health(); void Log_Sensor_Health();
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
void Log_Write_Heli(void); void Log_Write_Heli(void);

18
ArduCopter/Log.cpp
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@ -361,21 +361,6 @@ void Copter::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t
DataFlash.WriteBlock(&pkt_tune, sizeof(pkt_tune)); DataFlash.WriteBlock(&pkt_tune, sizeof(pkt_tune));
} }
// log EKF origin and ahrs home to dataflash
void Copter::Log_Write_Home_And_Origin()
{
// log ekf origin if set
Location ekf_orig;
if (ahrs.get_origin(ekf_orig)) {
DataFlash.Log_Write_Origin(LogOriginType::ekf_origin, ekf_orig);
}
// log ahrs home if set
if (ahrs.home_is_set()) {
DataFlash.Log_Write_Origin(LogOriginType::ahrs_home, ahrs.get_home());
}
}
// logs when baro or compass becomes unhealthy // logs when baro or compass becomes unhealthy
void Copter::Log_Sensor_Health() void Copter::Log_Sensor_Health()
{ {
@ -544,7 +529,7 @@ void Copter::Log_Write_Vehicle_Startup_Messages()
#if AC_RALLY #if AC_RALLY
DataFlash.Log_Write_Rally(rally); DataFlash.Log_Write_Rally(rally);
#endif #endif
Log_Write_Home_And_Origin(); ahrs.Log_Write_Home_And_Origin();
gps.Write_DataFlash_Log_Startup_messages(); gps.Write_DataFlash_Log_Startup_messages();
} }
@ -569,7 +554,6 @@ void Copter::Log_Write_Data(uint8_t id, uint16_t value) {}
void Copter::Log_Write_Data(uint8_t id, float value) {} void Copter::Log_Write_Data(uint8_t id, float value) {}
void Copter::Log_Write_Error(uint8_t sub_system, uint8_t error_code) {} void Copter::Log_Write_Error(uint8_t sub_system, uint8_t error_code) {}
void Copter::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t control_in, int16_t tune_low, int16_t tune_high) {} void Copter::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t control_in, int16_t tune_low, int16_t tune_high) {}
void Copter::Log_Write_Home_And_Origin() {}
void Copter::Log_Sensor_Health() {} void Copter::Log_Sensor_Health() {}
void Copter::Log_Write_Precland() {} void Copter::Log_Write_Precland() {}
void Copter::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {} void Copter::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}

4
ArduCopter/commands.cpp
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@ -100,7 +100,7 @@ bool Copter::set_home(const Location& loc, bool lock)
} }
// log ahrs home and ekf origin dataflash // log ahrs home and ekf origin dataflash
Log_Write_Home_And_Origin(); ahrs.Log_Write_Home_And_Origin();
// send new home and ekf origin to GCS // send new home and ekf origin to GCS
gcs().send_home(loc); gcs().send_home(loc);
@ -130,7 +130,7 @@ void Copter::set_ekf_origin(const Location& loc)
} }
// log ahrs home and ekf origin dataflash // log ahrs home and ekf origin dataflash
Log_Write_Home_And_Origin(); ahrs.Log_Write_Home_And_Origin();
// send ekf origin to GCS // send ekf origin to GCS
gcs().send_ekf_origin(loc); gcs().send_ekf_origin(loc);