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Rover: Change Mode logging to use DataFlash library method.

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This commit is contained in:
Robert Lefebvre 2015-01-16 15:40:26 -05:00 committed by Randy Mackay
parent 7254de4e23
commit 89fd543f4d
3 changed files with 1 additions and 25 deletions
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23
APMrover2/Log.pde
View File

@ -315,26 +315,6 @@ static void Log_Write_Attitude()
#endif #endif
} }
struct PACKED log_Mode {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint8_t mode;
uint8_t mode_num;
};
// Write a mode packet
static void Log_Write_Mode()
{
struct log_Mode pkt = {
LOG_PACKET_HEADER_INIT(LOG_MODE_MSG),
time_ms : millis(),
mode : (uint8_t)control_mode,
mode_num : (uint8_t)control_mode
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Sonar { struct PACKED log_Sonar {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint32_t time_ms; uint32_t time_ms;
@ -480,8 +460,6 @@ static const struct LogStructure log_structure[] PROGMEM = {
"NTUN", "IHfHHb", "TimeMS,Yaw,WpDist,TargBrg,NavBrg,Thr" }, "NTUN", "IHfHHb", "TimeMS,Yaw,WpDist,TargBrg,NavBrg,Thr" },
{ LOG_SONAR_MSG, sizeof(log_Sonar), { LOG_SONAR_MSG, sizeof(log_Sonar),
"SONR", "IfHHHbHCb", "TimeMS,LatAcc,S1Dist,S2Dist,DCnt,TAng,TTim,Spd,Thr" }, "SONR", "IfHHHbHCb", "TimeMS,LatAcc,S1Dist,S2Dist,DCnt,TAng,TTim,Spd,Thr" },
{ LOG_MODE_MSG, sizeof(log_Mode),
"MODE", "IMB", "TimeMS,Mode,ModeNum" },
{ LOG_COMPASS_MSG, sizeof(log_Compass), { LOG_COMPASS_MSG, sizeof(log_Compass),
"MAG", "Ihhhhhhhhh", "TimeMS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ" }, "MAG", "Ihhhhhhhhh", "TimeMS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ" },
{ LOG_COMPASS2_MSG, sizeof(log_Compass), { LOG_COMPASS2_MSG, sizeof(log_Compass),
@ -535,7 +513,6 @@ static void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd) {}
static int8_t process_logs(uint8_t argc, const Menu::arg *argv) { return 0; } static int8_t process_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
static void Log_Write_Control_Tuning() {} static void Log_Write_Control_Tuning() {}
static void Log_Write_Sonar() {} static void Log_Write_Sonar() {}
static void Log_Write_Mode() {}
static void Log_Write_Attitude() {} static void Log_Write_Attitude() {}
static void Log_Write_Compass() {} static void Log_Write_Compass() {}
static void start_logging() {} static void start_logging() {}

1
APMrover2/defines.h
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@ -67,7 +67,6 @@ enum mode {
#define LOG_PERFORMANCE_MSG 0x03 #define LOG_PERFORMANCE_MSG 0x03
#define LOG_STARTUP_MSG 0x06 #define LOG_STARTUP_MSG 0x06
#define LOG_SONAR_MSG 0x07 #define LOG_SONAR_MSG 0x07
#define LOG_MODE_MSG 0x09
#define LOG_COMPASS_MSG 0x0A #define LOG_COMPASS_MSG 0x0A
#define LOG_COMPASS2_MSG 0x0C #define LOG_COMPASS2_MSG 0x0C
#define LOG_STEERING_MSG 0x0D #define LOG_STEERING_MSG 0x0D

2
APMrover2/system.pde
View File

@ -317,7 +317,7 @@ static void set_mode(enum mode mode)
} }
if (should_log(MASK_LOG_MODE)) { if (should_log(MASK_LOG_MODE)) {
Log_Write_Mode(); DataFlash.Log_Write_Mode(control_mode);
} }
} }