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Copter: Move logging battery logging code to AP_BattMonitor

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This commit is contained in:
Michael du Breuil 2018-01-16 12:14:43 -07:00 committed by Francisco Ferreira
parent 43972f8e56
commit 69da4041ac
3 changed files with 4 additions and 23 deletions
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3
ArduCopter/Copter.h
View File

@ -388,7 +388,7 @@ private:
int32_t initial_armed_bearing;
// Battery Sensors
AP_BattMonitor battery;
AP_BattMonitor battery{MASK_LOG_CURRENT};
#if FRSKY_TELEM_ENABLED == ENABLED
// FrSky telemetry support
@ -756,7 +756,6 @@ private:
void update_notify();
// Log.cpp
void Log_Write_Current();
void Log_Write_Optflow();
void Log_Write_Nav_Tuning();
void Log_Write_Control_Tuning();

10
ArduCopter/Log.cpp
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@ -59,15 +59,6 @@ void Copter::ModeAutoTune::Log_Write_AutoTuneDetails(float angle_cd, float rate_
}
#endif
// Write a Current data packet
void Copter::Log_Write_Current()
{
DataFlash.Log_Write_Current(battery);
// also write power status
DataFlash.Log_Write_Power();
}
struct PACKED log_Optflow {
LOG_PACKET_HEADER;
uint64_t time_us;
@ -700,7 +691,6 @@ void Copter::Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float meas_targ
float meas_min, float meas_max, float new_gain_rp, \
float new_gain_rd, float new_gain_sp, float new_ddt) {}
void Copter::Log_Write_AutoTuneDetails(float angle_cd, float rate_cds) {}
void Copter::Log_Write_Current() {}
void Copter::Log_Write_Nav_Tuning() {}
void Copter::Log_Write_Control_Tuning() {}
void Copter::Log_Write_Performance() {}

14
ArduCopter/sensors.cpp
View File

@ -185,17 +185,14 @@ void Copter::read_battery(void)
{
battery.read();
// update compass with current value
if (battery.has_current()) {
compass.set_current(battery.current_amps());
}
// update motors with voltage and current
if (battery.get_type() != AP_BattMonitor_Params::BattMonitor_TYPE_NONE) {
motors->set_voltage(battery.voltage());
AP_Notify::flags.battery_voltage = battery.voltage();
}
if (battery.has_current()) {
compass.set_current(battery.current_amps());
motors->set_current(battery.current_amps());
motors->set_resistance(battery.get_resistance());
motors->set_voltage_resting_estimate(battery.voltage_resting_estimate());
@ -206,11 +203,6 @@ void Copter::read_battery(void)
if (!ap.usb_connected && !failsafe.battery && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah)) {
failsafe_battery_event();
}
// log battery info to the dataflash
if (should_log(MASK_LOG_CURRENT)) {
Log_Write_Current();
}
}
// read the receiver RSSI as an 8 bit number for MAVLink