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Copter: use common mission logging code

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This commit is contained in:
Peter Barker 2015-06-24 12:13:10 +10:00 committed by Andrew Tridgell
parent cabea266e7
commit 12bce49cd1
5 changed files with 5 additions and 27 deletions
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2
ArduCopter/Copter.h
View File

@ -588,7 +588,6 @@ private:
void Log_Write_Rate();
void Log_Write_MotBatt();
void Log_Write_Startup();
void Log_Write_EntireMission();
void Log_Write_Event(uint8_t id);
void Log_Write_Data(uint8_t id, int32_t value);
void Log_Write_Data(uint8_t id, uint32_t value);
@ -891,7 +890,6 @@ private:
void print_hit_enter();
void tuning();
void gcs_send_text_fmt(const prog_char_t *fmt, ...);
void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd);
bool start_command(const AP_Mission::Mission_Command& cmd);
bool verify_command(const AP_Mission::Mission_Command& cmd);

4
ArduCopter/GCS_Mavlink.cpp
View File

@ -1016,11 +1016,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
// GCS has sent us a command from GCS, store to EEPROM
// GCS has sent us a mission item, store to EEPROM
case MAVLINK_MSG_ID_MISSION_ITEM: // MAV ID: 39
{
if (handle_mission_item(msg, copter.mission)) {
copter.Log_Write_EntireMission();
copter.DataFlash.Log_Write_EntireMission(copter.mission);
}
break;
}

22
ArduCopter/Log.cpp
View File

@ -353,14 +353,6 @@ void Copter::Log_Write_Performance()
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Write a mission command. Total length : 36 bytes
void Copter::Log_Write_Cmd(const AP_Mission::Mission_Command &cmd)
{
mavlink_mission_item_t mav_cmd = {};
AP_Mission::mission_cmd_to_mavlink(cmd,mav_cmd);
DataFlash.Log_Write_MavCmd(mission.num_commands(),mav_cmd);
}
// Write an attitude packet
void Copter::Log_Write_Attitude()
{
@ -459,19 +451,7 @@ void Copter::Log_Write_Startup()
// write all commands to the dataflash as well
if (should_log(MASK_LOG_CMD)) {
Log_Write_EntireMission();
}
}
void Copter::Log_Write_EntireMission()
{
DataFlash.Log_Write_Message_P(PSTR("New mission"));
AP_Mission::Mission_Command cmd;
for (uint16_t i = 0; i < mission.num_commands(); i++) {
if (mission.read_cmd_from_storage(i,cmd)) {
Log_Write_Cmd(cmd);
}
DataFlash.Log_Write_EntireMission(mission);
}
}

2
ArduCopter/commands.cpp
View File

@ -96,7 +96,7 @@ bool Copter::set_home(const Location& loc)
if (should_log(MASK_LOG_CMD)) {
AP_Mission::Mission_Command temp_cmd;
if (mission.read_cmd_from_storage(0, temp_cmd)) {
Log_Write_Cmd(temp_cmd);
DataFlash.Log_Write_Mission_Cmd(mission, temp_cmd);
}
}
}

2
ArduCopter/commands_logic.cpp
View File

@ -7,7 +7,7 @@ bool Copter::start_command(const AP_Mission::Mission_Command& cmd)
{
// To-Do: logging when new commands start/end
if (should_log(MASK_LOG_CMD)) {
Log_Write_Cmd(cmd);
DataFlash.Log_Write_Mission_Cmd(mission, cmd);
}
switch(cmd.id) {