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Plane: remove logging of CMDI

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This is a duplicate of the data logged into "MAVC"
This commit is contained in:
Peter Barker 2022-02-03 14:50:23 +11:00 committed by Andrew Tridgell
parent d06600aca1
commit 81c138e0a4
4 changed files with 0 additions and 73 deletions
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3
ArduPlane/GCS_Mavlink.cpp
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@ -877,9 +877,6 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_guided_slew_commands(const mavl
MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_packet(const mavlink_command_int_t &packet)
{
plane.Log_Write_MavCmdI(packet);
switch(packet.command) {
case MAV_CMD_DO_REPOSITION:

65
ArduPlane/Log.cpp
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@ -434,72 +434,8 @@ const struct LogStructure Plane::log_structure[] = {
// @Field: HdgA: target heading lim
{ LOG_OFG_MSG, sizeof(log_OFG_Guided),
"OFG", "QffffBff", "TimeUS,Arsp,ArspA,Alt,AltA,AltF,Hdg,HdgA", "s-------", "F-------" , true },
// @LoggerMessage: CMDI
// @Description: Generic CommandInt message logger(CMDI)
// @Field: TimeUS: Time since system startup
// @Field: CId: command id
// @Field: TSys: target system
// @Field: TCmp: target component
// @Field: cur: current
// @Field: cont: autocontinue
// @Field: Prm1: parameter 1
// @Field: Prm2: parameter 2
// @Field: Prm3: parameter 3
// @Field: Prm4: parameter 4
// @Field: Lat: target latitude
// @Field: Lng: target longitude
// @Field: Alt: target altitude
// @Field: F: frame
{ LOG_CMDI_MSG, sizeof(log_CMDI),
"CMDI", "QHBBBBffffiifB", "TimeUS,CId,TSys,TCmp,cur,cont,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt,F", "s---------DUm-", "F---------GGB-" },
// these next three are same format as log_CMDI just each a different name for Heading,Speed and Alt COMMAND_INTs
{ LOG_CMDS_MSG, sizeof(log_CMDI),
"CMDS", "QHBBBBffffiifB", "TimeUS,CId,TSys,TCmp,cur,cont,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt,F", "s---------DUm-", "F---------GGB-" },
{ LOG_CMDA_MSG, sizeof(log_CMDI),
"CMDA", "QHBBBBffffiifB", "TimeUS,CId,TSys,TCmp,cur,cont,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt,F", "s---------DUm-", "F---------GGB-" },
{ LOG_CMDH_MSG, sizeof(log_CMDI),
"CMDH", "QHBBBBffffiifB", "TimeUS,CId,TSys,TCmp,cur,cont,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt,F", "s---------DUm-", "F---------GGB-" },
};
// Write a COMMAND INT packet.
void Plane::Log_Write_MavCmdI(const mavlink_command_int_t &mav_cmd)
{
struct log_CMDI pkt = {
LOG_PACKET_HEADER_INIT(LOG_CMDI_MSG),
TimeUS:AP_HAL::micros64(),
CId: mav_cmd.command,
TSys: mav_cmd.target_system,
TCmp: mav_cmd.target_component,
cur: mav_cmd.current,
cont: mav_cmd.autocontinue,
Prm1: mav_cmd.param1,
Prm2: mav_cmd.param2,
Prm3: mav_cmd.param3,
Prm4: mav_cmd.param4,
Lat: mav_cmd.x,
Lng: mav_cmd.y,
Alt: mav_cmd.z,
F: mav_cmd.frame
};
// rather than have 4 different functions for these similar outputs, we just create it as a CMDI and rename it here
#if OFFBOARD_GUIDED == ENABLED
if (mav_cmd.command == MAV_CMD_GUIDED_CHANGE_SPEED) {
pkt.msgid = LOG_CMDS_MSG;
} else if (mav_cmd.command == MAV_CMD_GUIDED_CHANGE_ALTITUDE) {
pkt.msgid = LOG_CMDA_MSG;
} else if (mav_cmd.command == MAV_CMD_GUIDED_CHANGE_HEADING) {
pkt.msgid = LOG_CMDH_MSG;
}
#endif
//normally pkt.msgid = LOG_CMDI_MSG
logger.WriteBlock(&pkt, sizeof(pkt));
}
void Plane::Log_Write_Vehicle_Startup_Messages()
{
// only 200(?) bytes are guaranteed by AP_Logger
@ -532,7 +468,6 @@ void Plane::Log_Write_OFG_Guided() {}
void Plane::Log_Write_Nav_Tuning() {}
void Plane::Log_Write_Status() {}
void Plane::Log_Write_Guided(void) {}
void Plane::Log_Write_MavCmdI(const mavlink_command_int_t &packet) {}
void Plane::Log_Write_RC(void) {}
void Plane::Log_Write_Vehicle_Startup_Messages() {}

1
ArduPlane/Plane.h
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@ -878,7 +878,6 @@ private:
void Log_Write_RC(void);
void Log_Write_Vehicle_Startup_Messages();
void Log_Write_AETR();
void Log_Write_MavCmdI(const mavlink_command_int_t &packet);
void log_init();
// Parameters.cpp

4
ArduPlane/defines.h
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@ -99,10 +99,6 @@ enum log_messages {
LOG_PIDG_MSG,
LOG_AETR_MSG,
LOG_OFG_MSG,
LOG_CMDI_MSG,
LOG_CMDA_MSG,
LOG_CMDS_MSG,
LOG_CMDH_MSG,
};
#define MASK_LOG_ATTITUDE_FAST (1<<0)