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Plane: only log when armed by default

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use safety switch if arming not enabled
This commit is contained in:
Andrew Tridgell 2014-01-14 13:07:43 +11:00
parent 874110b29d
commit 8755747da0
6 changed files with 40 additions and 20 deletions
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24
ArduPlane/ArduPlane.pde
View File

@ -825,10 +825,10 @@ static void ahrs_update()
ahrs.update();
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST)
if (should_log(MASK_LOG_ATTITUDE_FAST))
Log_Write_Attitude();
if (g.log_bitmask & MASK_LOG_IMU)
if (should_log(MASK_LOG_IMU))
Log_Write_IMU();
// calculate a scaled roll limit based on current pitch
@ -876,7 +876,7 @@ static void update_compass(void)
if (g.compass_enabled && compass.read()) {
ahrs.set_compass(&compass);
compass.null_offsets();
if (g.log_bitmask & MASK_LOG_COMPASS) {
if (should_log(MASK_LOG_COMPASS)) {
Log_Write_Compass();
}
} else {
@ -907,10 +907,10 @@ static void barometer_accumulate(void)
*/
static void update_logging1(void)
{
if ((g.log_bitmask & MASK_LOG_ATTITUDE_MED) && !(g.log_bitmask & MASK_LOG_ATTITUDE_FAST))
if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST))
Log_Write_Attitude();
if ((g.log_bitmask & MASK_LOG_ATTITUDE_MED) && !(g.log_bitmask & MASK_LOG_IMU))
if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_IMU))
Log_Write_IMU();
}
@ -919,13 +919,13 @@ static void update_logging1(void)
*/
static void update_logging2(void)
{
if (g.log_bitmask & MASK_LOG_CTUN)
if (should_log(MASK_LOG_CTUN))
Log_Write_Control_Tuning();
if (g.log_bitmask & MASK_LOG_NTUN)
if (should_log(MASK_LOG_NTUN))
Log_Write_Nav_Tuning();
if (g.log_bitmask & MASK_LOG_RC)
if (should_log(MASK_LOG_RC))
Log_Write_RC();
}
@ -968,7 +968,7 @@ static void update_aux(void)
static void one_second_loop()
{
if (g.log_bitmask & MASK_LOG_CURRENT)
if (should_log(MASK_LOG_CURRENT))
Log_Write_Current();
// send a heartbeat
@ -991,7 +991,7 @@ static void log_perf_info()
if (scheduler.debug() != 0) {
hal.console->printf_P(PSTR("G_Dt_max=%lu\n"), (unsigned long)G_Dt_max);
}
if (g.log_bitmask & MASK_LOG_PM)
if (should_log(MASK_LOG_PM))
Log_Write_Performance();
G_Dt_max = 0;
resetPerfData();
@ -1037,7 +1037,7 @@ static void update_GPS_50Hz(void)
g_gps->update();
if (g_gps->last_message_time_ms() != last_gps_reading) {
last_gps_reading = g_gps->last_message_time_ms();
if (g.log_bitmask & MASK_LOG_GPS) {
if (should_log(MASK_LOG_GPS)) {
Log_Write_GPS();
}
}
@ -1402,7 +1402,7 @@ static void update_alt()
takeoff_pitch_cd,
throttle_nudge,
relative_altitude());
if (g.log_bitmask & MASK_LOG_TECS) {
if (should_log(MASK_LOG_TECS)) {
Log_Write_TECS_Tuning();
}
}

6
ArduPlane/commands_logic.pde
View File

@ -245,7 +245,7 @@ static void do_RTL(void)
setup_glide_slope();
if (g.log_bitmask & MASK_LOG_MODE)
if (should_log(MASK_LOG_MODE))
Log_Write_Mode(control_mode);
}
@ -574,7 +574,7 @@ static void do_jump()
non_nav_command_index = g.command_index;
non_nav_command_ID = WAIT_COMMAND;
if (g.log_bitmask & MASK_LOG_CMD) {
if (should_log(MASK_LOG_CMD)) {
Log_Write_Cmd(g.command_index, &next_nav_command);
}
handle_process_nav_cmd();
@ -668,7 +668,7 @@ static void do_take_picture()
{
#if CAMERA == ENABLED
camera.trigger_pic();
if (g.log_bitmask & MASK_LOG_CAMERA) {
if (should_log(MASK_LOG_CAMERA)) {
Log_Write_Camera();
}
#endif

4
ArduPlane/commands_process.pde
View File

@ -92,7 +92,7 @@ static void process_next_command()
non_nav_command_index = NO_COMMAND; // This will cause the next intervening non-nav command (if any) to be loaded
non_nav_command_ID = NO_COMMAND;
if (g.log_bitmask & MASK_LOG_CMD) {
if (should_log(MASK_LOG_CMD)) {
Log_Write_Cmd(g.command_index, &next_nav_command);
}
handle_process_nav_cmd();
@ -130,7 +130,7 @@ static void process_next_command()
gcs_send_text_fmt(PSTR("(2) Non-Nav command ID updated to #%i idx=%u"),
(unsigned)non_nav_command_ID, (unsigned)non_nav_command_index);
if (g.log_bitmask & MASK_LOG_CMD) {
if (should_log(MASK_LOG_CMD)) {
Log_Write_Cmd(g.command_index, &next_nonnav_command);
}

1
ArduPlane/defines.h
View File

@ -162,6 +162,7 @@ enum log_messages {
#define MASK_LOG_RC (1<<13)
#define MASK_LOG_SONAR (1<<14)
#define MASK_LOG_ARM_DISARM (1<<15)
#define MASK_LOG_WHEN_DISARMED (1<<30)
// Waypoint Modes
// ----------------

2
ArduPlane/sensors.pde
View File

@ -40,7 +40,7 @@ static void read_sonars(void)
return;
}
if (g.log_bitmask & MASK_LOG_SONAR)
if (should_log(MASK_LOG_SONAR))
Log_Write_Sonar();
}

23
ArduPlane/system.pde
View File

@ -205,7 +205,7 @@ static void init_ardupilot()
}
startup_ground();
if (g.log_bitmask & MASK_LOG_CMD)
if (should_log(MASK_LOG_CMD))
Log_Write_Startup(TYPE_GROUNDSTART_MSG);
// choose the nav controller
@ -359,7 +359,7 @@ static void set_mode(enum FlightMode mode)
throttle_suppressed = false;
}
if (g.log_bitmask & MASK_LOG_MODE)
if (should_log(MASK_LOG_MODE))
Log_Write_Mode(control_mode);
// reset attitude integrators on mode change
@ -607,3 +607,22 @@ static void servo_write(uint8_t ch, uint16_t pwm)
hal.rcout->enable_ch(ch);
hal.rcout->write(ch, pwm);
}
/*
should we log a message type now?
*/
static bool should_log(uint32_t mask)
{
if (!(mask & g.log_bitmask)) {
return false;
}
bool armed;
if (arming.arming_required() == AP_Arming::NO) {
// for logging purposes consider us armed if we either don't
// have a safety switch, or we have one and it is disarmed
armed = (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
} else {
armed = arming.is_armed();
}
return armed || (g.log_bitmask & MASK_LOG_WHEN_DISARMED) != 0;
}