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AP_GPS: remove use of AddLogFormats

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Peter Barker 2015-11-10 09:10:27 +11:00 committed by Andrew Tridgell
parent fb197c9255
commit 0f9e7a905d
2 changed files with 0 additions and 74 deletions
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70
libraries/AP_GPS/AP_GPS_SBP.cpp
View File

@ -45,9 +45,6 @@ do { \
# define Debug(fmt, args ...) # define Debug(fmt, args ...)
#endif #endif
bool AP_GPS_SBP::logging_started = false;
AP_GPS_SBP::AP_GPS_SBP(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_GPS_SBP::AP_GPS_SBP(AP_GPS &_gps, AP_GPS::GPS_State &_state,
AP_HAL::UARTDriver *_port) : AP_HAL::UARTDriver *_port) :
AP_GPS_Backend(_gps, _state, _port), AP_GPS_Backend(_gps, _state, _port),
@ -387,69 +384,6 @@ AP_GPS_SBP::_detect(struct SBP_detect_state &state, uint8_t data)
#if SBP_HW_LOGGING #if SBP_HW_LOGGING
#define LOG_MSG_SBPHEALTH 202
#define LOG_MSG_SBPLLH 203
#define LOG_MSG_SBPBASELINE 204
#define LOG_MSG_SBPTRACKING1 205
#define LOG_MSG_SBPTRACKING2 206
#define LOG_MSG_SBPRAW1 207
#define LOG_MSG_SBPRAW2 208
struct PACKED log_SbpLLH {
LOG_PACKET_HEADER;
uint64_t time_us;
uint32_t tow;
int32_t lat;
int32_t lon;
int32_t alt;
uint8_t n_sats;
uint8_t flags;
};
struct PACKED log_SbpHealth {
LOG_PACKET_HEADER;
uint64_t time_us;
uint32_t crc_error_counter;
uint32_t last_injected_data_ms;
uint32_t last_iar_num_hypotheses;
};
struct PACKED log_SbpRAW1 {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t msg_type;
uint16_t sender_id;
uint8_t msg_len;
uint8_t data1[64];
};
struct PACKED log_SbpRAW2 {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t msg_type;
uint8_t data2[192];
};
static const struct LogStructure sbp_log_structures[] = {
{ LOG_MSG_SBPHEALTH, sizeof(log_SbpHealth),
"SBPH", "QIII", "TimeUS,CrcError,LastInject,IARhyp" },
{ LOG_MSG_SBPRAW1, sizeof(log_SbpRAW1),
"SBR1", "QHHBZ", "TimeUS,msg_type,sender_id,msg_len,d1" },
{ LOG_MSG_SBPRAW2, sizeof(log_SbpRAW2),
"SBR2", "QHZZZ", "TimeUS,msg_type,d2,d3,d4" }
};
void
AP_GPS_SBP::logging_write_headers(void)
{
if (!logging_started) {
logging_started = true;
gps._DataFlash->AddLogFormats(sbp_log_structures, ARRAY_SIZE(sbp_log_structures));
}
}
void void
AP_GPS_SBP::logging_log_full_update() AP_GPS_SBP::logging_log_full_update()
{ {
@ -458,8 +392,6 @@ AP_GPS_SBP::logging_log_full_update()
return; return;
} }
logging_write_headers();
struct log_SbpHealth pkt = { struct log_SbpHealth pkt = {
LOG_PACKET_HEADER_INIT(LOG_MSG_SBPHEALTH), LOG_PACKET_HEADER_INIT(LOG_MSG_SBPHEALTH),
time_us : AP_HAL::micros64(), time_us : AP_HAL::micros64(),
@ -486,8 +418,6 @@ AP_GPS_SBP::logging_log_raw_sbp(uint16_t msg_type,
return; return;
} }
logging_write_headers();
uint64_t time_us = AP_HAL::micros64(); uint64_t time_us = AP_HAL::micros64();
struct log_SbpRAW1 pkt = { struct log_SbpRAW1 pkt = {

4
libraries/AP_GPS/AP_GPS_SBP.h
View File

@ -164,10 +164,6 @@ private:
// Logging to DataFlash // Logging to DataFlash
// ************************************************************************ // ************************************************************************
// have we written the logging headers to DataFlash?
static bool logging_started;
void logging_write_headers();
void logging_log_full_update(); void logging_log_full_update();
void logging_log_raw_sbp(uint16_t msg_type, uint16_t sender_id, uint8_t msg_len, uint8_t *msg_buff); void logging_log_raw_sbp(uint16_t msg_type, uint16_t sender_id, uint8_t msg_len, uint8_t *msg_buff);