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AP_Logger: move LogOriginType into AP_AHRS

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only used to log the origins by the AHRS library
This commit is contained in:
Peter Barker 2021-12-02 13:04:02 +11:00 committed by Peter Barker
parent 1dd34d87e7
commit 66d8be825f
3 changed files with 3 additions and 8 deletions
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2
libraries/AP_AHRS/AP_AHRS.h
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@ -430,7 +430,7 @@ public:
ekf_origin = 0,
ahrs_home = 1
};
void Write_Origin(uint8_t origin_type, const Location &loc) const;
void Write_Origin(LogOriginType origin_type, const Location &loc) const;
void Write_POS(void) const;
// return a smoothed and corrected gyro vector in radians/second

4
libraries/AP_AHRS/AP_AHRS_Logging.cpp
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@ -63,12 +63,12 @@ void AP_AHRS::Write_Attitude(const Vector3f &targets) const
AP::logger().WriteBlock(&pkt, sizeof(pkt));
}
void AP_AHRS::Write_Origin(uint8_t origin_type, const Location &loc) const
void AP_AHRS::Write_Origin(LogOriginType origin_type, const Location &loc) const
{
const struct log_ORGN pkt{
LOG_PACKET_HEADER_INIT(LOG_ORGN_MSG),
time_us : AP_HAL::micros64(),
origin_type : origin_type,
origin_type : (uint8_t)origin_type,
latitude : loc.lat,
longitude : loc.lng,
altitude : loc.alt

5
libraries/AP_Logger/LogStructure.h
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@ -1433,8 +1433,3 @@ enum LogMessages : uint8_t {
static_assert(_LOG_LAST_MSG_ <= 255, "Too many message formats");
static_assert(LOG_MODE_MSG < 128, "Duplicate message format IDs");
enum LogOriginType {
ekf_origin = 0,
ahrs_home = 1
};