From 4b0495bb1584876632a08ba1812b8387b0ca9266 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 24 Jun 2015 12:13:24 +1000
Subject: [PATCH] Rover: use common mission logging code

---
 APMrover2/GCS_Mavlink.cpp    |  4 ++--
 APMrover2/Log.cpp            | 24 +-----------------------
 APMrover2/Rover.h            |  2 --
 APMrover2/commands_logic.cpp |  2 +-
 4 files changed, 4 insertions(+), 28 deletions(-)

diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index ff1810d852..b6d7361226 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -1105,11 +1105,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         break;
     }
 
-	// XXX receive a WP from GCS and store in EEPROM
+    // GCS has sent us a mission item, store to EEPROM
     case MAVLINK_MSG_ID_MISSION_ITEM:
         {
             if (handle_mission_item(msg, rover.mission)) {
-                rover.Log_Write_EntireMission();
+                rover.DataFlash.Log_Write_EntireMission(rover.mission);
             }
             break;
         }
diff --git a/APMrover2/Log.cpp b/APMrover2/Log.cpp
index 5f091eb720..3ee6b3d1c8 100644
--- a/APMrover2/Log.cpp
+++ b/APMrover2/Log.cpp
@@ -189,14 +189,6 @@ void Rover::Log_Write_Performance()
     DataFlash.WriteBlock(&pkt, sizeof(pkt));
 }
 
-// Write a mission command. Total length : 36 bytes
-void Rover::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_Steering {
     LOG_PACKET_HEADER;
     uint64_t time_us;
@@ -235,19 +227,7 @@ void Rover::Log_Write_Startup(uint8_t type)
 
     // write all commands to the dataflash as well
     if (should_log(MASK_LOG_CMD)) {
-        Log_Write_EntireMission();
-    }
-}
-
-void Rover::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);
     }
 }
 
@@ -439,11 +419,9 @@ void Rover::start_logging()
 
 // dummy functions
 void Rover::Log_Write_Startup(uint8_t type) {}
-void Rover::Log_Write_EntireMission() {}
 void Rover::Log_Write_Current() {}
 void Rover::Log_Write_Nav_Tuning() {}
 void Rover::Log_Write_Performance() {}
-void Rover::Log_Write_Cmd(const AP_Mission::Mission_Command &cmd) {}
 int8_t Rover::process_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
 void Rover::Log_Write_Control_Tuning() {}
 void Rover::Log_Write_Sonar() {}
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index 801f214c74..fbc3a8436e 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -398,7 +398,6 @@ private:
     void Log_Write_Performance();
     void Log_Write_Steering();
     void Log_Write_Startup(uint8_t type);
-    void Log_Write_EntireMission();
     void Log_Write_Control_Tuning();
     void Log_Write_Nav_Tuning();
     void Log_Write_Sonar();
@@ -481,7 +480,6 @@ private:
     void frsky_telemetry_send(void);
     void print_hit_enter();    
     void gcs_send_text_fmt(const prog_char_t *fmt, ...);
-    void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd);
     void print_mode(AP_HAL::BetterStream *port, uint8_t mode);
     bool start_command(const AP_Mission::Mission_Command& cmd);
     bool verify_command(const AP_Mission::Mission_Command& cmd);
diff --git a/APMrover2/commands_logic.cpp b/APMrover2/commands_logic.cpp
index 11c9a6b63c..51ac3ee25e 100644
--- a/APMrover2/commands_logic.cpp
+++ b/APMrover2/commands_logic.cpp
@@ -9,7 +9,7 @@ bool Rover::start_command(const AP_Mission::Mission_Command& cmd)
 {
     // log when new commands start
     if (should_log(MASK_LOG_CMD)) {
-        Log_Write_Cmd(cmd);
+        DataFlash.Log_Write_Mission_Cmd(mission, cmd);
     }
 
     // exit immediately if not in AUTO mode