From 6d71ef5cf8bba87f18669feeb9e7f2b1d32c470e Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 28 Aug 2019 14:09:59 +1000 Subject: [PATCH] AP_Logger: move EKF timing logging out to EKF --- libraries/AP_Logger/AP_Logger.h | 2 -- libraries/AP_Logger/LogFile.cpp | 25 ------------------------- 2 files changed, 27 deletions(-) diff --git a/libraries/AP_Logger/AP_Logger.h b/libraries/AP_Logger/AP_Logger.h index 3d69c05e76..cbaf919b12 100644 --- a/libraries/AP_Logger/AP_Logger.h +++ b/libraries/AP_Logger/AP_Logger.h @@ -23,7 +23,6 @@ class AP_Logger_Backend; class AP_AHRS; class AP_AHRS_View; -struct ekf_timing; // do not do anything here apart from add stuff; maintaining older // entries means log analysis is easier @@ -242,7 +241,6 @@ public: void Write_Power(void); void Write_AHRS2(AP_AHRS &ahrs); void Write_POS(AP_AHRS &ahrs); - void Write_EKF_Timing(const char *name, uint64_t time_us, const struct ekf_timing &timing); void Write_Radio(const mavlink_radio_t &packet); void Write_Message(const char *message); void Write_MessageF(const char *fmt, ...); diff --git a/libraries/AP_Logger/LogFile.cpp b/libraries/AP_Logger/LogFile.cpp index 048ea56eb2..2c4d0c5e7a 100644 --- a/libraries/AP_Logger/LogFile.cpp +++ b/libraries/AP_Logger/LogFile.cpp @@ -533,31 +533,6 @@ void AP_Logger::Write_POS(AP_AHRS &ahrs) WriteBlock(&pkt, sizeof(pkt)); } -#if AP_AHRS_NAVEKF_AVAILABLE - - -/* - write an EKF timing message - */ -void AP_Logger::Write_EKF_Timing(const char *name, uint64_t time_us, const struct ekf_timing &timing) -{ - Write(name, - "TimeUS,Cnt,IMUMin,IMUMax,EKFMin,EKFMax,AngMin,AngMax,VMin,VMax", - "QIffffffff", - time_us, - timing.count, - (double)timing.dtIMUavg_min, - (double)timing.dtIMUavg_max, - (double)timing.dtEKFavg_min, - (double)timing.dtEKFavg_max, - (double)timing.delAngDT_min, - (double)timing.delAngDT_max, - (double)timing.delVelDT_min, - (double)timing.delVelDT_max); -} - -#endif - void AP_Logger::Write_Radio(const mavlink_radio_t &packet) { const struct log_Radio pkt{