aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Copter: move Log_Write_Home_And_Origin into AP_AHRS

Browse Source
This commit is contained in:
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
ArduCopter/Copter.h
View File

@ -806,7 +806,6 @@ private:
void Log_Write_Data(uint8_t id, float value);
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_Home_And_Origin();
void Log_Sensor_Health();
#if FRAME_CONFIG == HELI_FRAME
void Log_Write_Heli(void);

18
ArduCopter/Log.cpp
View File

@ -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));
}
// 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
void Copter::Log_Sensor_Health()
{
@ -544,7 +529,7 @@ void Copter::Log_Write_Vehicle_Startup_Messages()
#if AC_RALLY
DataFlash.Log_Write_Rally(rally);
#endif
Log_Write_Home_And_Origin();
ahrs.Log_Write_Home_And_Origin();
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_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_Home_And_Origin() {}
void Copter::Log_Sensor_Health() {}
void Copter::Log_Write_Precland() {}
void Copter::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}

4
ArduCopter/commands.cpp
View File

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