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Plane: use common mission logging code

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This commit is contained in:
Peter Barker 2015-06-24 12:13:16 +10:00 committed by Andrew Tridgell
parent 12bce49cd1
commit 3fce7eb21a
4 changed files with 4 additions and 26 deletions
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4
ArduPlane/GCS_Mavlink.cpp
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@ -1460,11 +1460,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break; 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: case MAVLINK_MSG_ID_MISSION_ITEM:
{ {
if (handle_mission_item(msg, plane.mission)) { if (handle_mission_item(msg, plane.mission)) {
plane.Log_Write_EntireMission(); plane.DataFlash.Log_Write_EntireMission(plane.mission);
} }
break; break;
} }

22
ArduPlane/Log.cpp
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@ -221,14 +221,6 @@ void Plane::Log_Write_Performance()
DataFlash.WriteBlock(&pkt, sizeof(pkt)); DataFlash.WriteBlock(&pkt, sizeof(pkt));
} }
// Write a mission command. Total length : 36 bytes
void Plane::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);
}
struct PACKED log_Startup { struct PACKED log_Startup {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint64_t time_us; uint64_t time_us;
@ -248,19 +240,7 @@ void Plane::Log_Write_Startup(uint8_t type)
// write all commands to the dataflash as well // write all commands to the dataflash as well
if (should_log(MASK_LOG_CMD)) { if (should_log(MASK_LOG_CMD)) {
Log_Write_EntireMission(); DataFlash.Log_Write_EntireMission(mission);
}
}
void Plane::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);
}
} }
} }

2
ArduPlane/Plane.h
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@ -672,7 +672,6 @@ private:
void Log_Write_Attitude(void); void Log_Write_Attitude(void);
void Log_Write_Performance(); void Log_Write_Performance();
void Log_Write_Startup(uint8_t type); void Log_Write_Startup(uint8_t type);
void Log_Write_EntireMission();
void Log_Write_Control_Tuning(); void Log_Write_Control_Tuning();
void Log_Write_TECS_Tuning(void); void Log_Write_TECS_Tuning(void);
void Log_Write_Nav_Tuning(); void Log_Write_Nav_Tuning();
@ -906,7 +905,6 @@ private:
void do_digicam_control(const AP_Mission::Mission_Command& cmd); void do_digicam_control(const AP_Mission::Mission_Command& cmd);
bool start_command_callback(const AP_Mission::Mission_Command &cmd); bool start_command_callback(const AP_Mission::Mission_Command &cmd);
bool verify_command_callback(const AP_Mission::Mission_Command& cmd); bool verify_command_callback(const AP_Mission::Mission_Command& cmd);
void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd);
void print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode); void print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode);
void run_cli(AP_HAL::UARTDriver *port); void run_cli(AP_HAL::UARTDriver *port);
void log_init(); void log_init();

2
ArduPlane/commands_logic.cpp
View File

@ -9,7 +9,7 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
{ {
// log when new commands start // log when new commands start
if (should_log(MASK_LOG_CMD)) { if (should_log(MASK_LOG_CMD)) {
Log_Write_Cmd(cmd); DataFlash.Log_Write_Mission_Cmd(mission, cmd);
} }
// special handling for nav vs non-nav commands // special handling for nav vs non-nav commands