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AP_Logger: use RSSI singleton for logging

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This commit is contained in:
Peter Barker 2019-04-06 09:48:11 +11:00 committed by Andrew Tridgell
parent dcb6e74c3f
commit 57c4cbc771
2 changed files with 9 additions and 4 deletions
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3
libraries/AP_Logger/AP_Logger.h
View File

@ -7,7 +7,6 @@
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
#include <AP_RSSI/AP_RSSI.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Mission/AP_Mission.h>
#include <AP_BattMonitor/AP_BattMonitor.h>
@ -238,7 +237,7 @@ public:
void Write_Vibration();
void Write_RCIN(void);
void Write_RCOUT(void);
void Write_RSSI(AP_RSSI &rssi);
void Write_RSSI();
void Write_Baro(uint64_t time_us=0);
void Write_Power(void);
void Write_AHRS2(AP_AHRS &ahrs);

10
libraries/AP_Logger/LogFile.cpp
View File

@ -11,6 +11,7 @@
#include <AC_AttitudeControl/AC_AttitudeControl.h>
#include <AC_AttitudeControl/AC_PosControl.h>
#include <AP_RangeFinder/RangeFinder_Backend.h>
#include <AP_RSSI/AP_RSSI.h>
#include "AP_Logger.h"
#include "AP_Logger_File.h"
@ -245,12 +246,17 @@ void AP_Logger::Write_RCOUT(void)
}
// Write an RSSI packet
void AP_Logger::Write_RSSI(AP_RSSI &rssi)
void AP_Logger::Write_RSSI()
{
AP_RSSI *rssi = AP::rssi();
if (rssi == nullptr) {
return;
}
struct log_RSSI pkt = {
LOG_PACKET_HEADER_INIT(LOG_RSSI_MSG),
time_us : AP_HAL::micros64(),
RXRSSI : rssi.read_receiver_rssi()
RXRSSI : rssi->read_receiver_rssi()
};
WriteBlock(&pkt, sizeof(pkt));
}