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Copter: use DataFlash::log_while_disarmed()

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This commit is contained in:
Andrew Tridgell 2016-05-09 12:05:52 +10:00
parent dcb24f2bc1
commit 111eb2ccc1
4 changed files with 4 additions and 5 deletions
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4
ArduCopter/Parameters.cpp
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@ -372,8 +372,8 @@ const AP_Param::Info Copter::var_info[] = {
// @Param: LOG_BITMASK
// @DisplayName: Log bitmask
// @Description: 4 byte bitmap of log types to enable
// @Values: 830:Default,894:Default+RCIN,958:Default+IMU,1854:Default+Motors,-6146:NearlyAll-AC315,45054:NearlyAll,131070:All+DisarmedLogging,131071:All+FastATT,262142:All+MotBatt,393214:All+FastIMU,397310:All+FastIMU+PID,655358:All+FullIMU,0:Disabled
// @Bitmask: 0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,16:WHEN_DISARMED,17:MOTBATT,18:IMU_FAST,19:IMU_RAW
// @Values: 830:Default,894:Default+RCIN,958:Default+IMU,1854:Default+Motors,-6146:NearlyAll-AC315,45054:NearlyAll,131071:All+FastATT,262142:All+MotBatt,393214:All+FastIMU,397310:All+FastIMU+PID,655358:All+FullIMU,0:Disabled
// @Bitmask: 0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,17:MOTBATT,18:IMU_FAST,19:IMU_RAW
// @User: Standard
GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),

1
ArduCopter/defines.h
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@ -296,7 +296,6 @@ enum ThrowModeState {
#define MASK_LOG_COMPASS (1<<13)
#define MASK_LOG_INAV (1<<14) // deprecated
#define MASK_LOG_CAMERA (1<<15)
#define MASK_LOG_WHEN_DISARMED (1UL<<16)
#define MASK_LOG_MOTBATT (1UL<<17)
#define MASK_LOG_IMU_FAST (1UL<<18)
#define MASK_LOG_IMU_RAW (1UL<<19)

2
ArduCopter/motors.cpp
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@ -250,7 +250,7 @@ void Copter::init_disarm_motors()
mission.reset();
// suspend logging
if (!(g.log_bitmask & MASK_LOG_WHEN_DISARMED)) {
if (!DataFlash.log_while_disarmed()) {
DataFlash.EnableWrites(false);
}

2
ArduCopter/system.cpp
View File

@ -450,7 +450,7 @@ bool Copter::should_log(uint32_t mask)
if (!(mask & g.log_bitmask) || in_mavlink_delay) {
return false;
}
bool ret = motors.armed() || (g.log_bitmask & MASK_LOG_WHEN_DISARMED) != 0;
bool ret = motors.armed() || DataFlash.log_while_disarmed();
if (ret && !DataFlash.logging_started() && !in_log_download) {
start_logging();
}