From 954e10b26f1a644404541aaa53f741d2f5877e47 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sun, 16 Mar 2014 17:43:04 +0900 Subject: [PATCH] Rover: integrate dataflash Log_Write_MavCmd --- APMrover2/Log.pde | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/APMrover2/Log.pde b/APMrover2/Log.pde index 804fd406a1..32ad67130c 100644 --- a/APMrover2/Log.pde +++ b/APMrover2/Log.pde @@ -194,6 +194,14 @@ static void Log_Write_Performance() DataFlash.WriteBlock(&pkt, sizeof(pkt)); } +// Write a mission command. Total length : 36 bytes +static void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd) +{ + mavlink_mission_item_t mav_cmd = {}; + AP_Mission::mission_cmd_to_mavlink(cmd,mav_cmd); + DataFlash.Log_Write_MavCmd(mission.num_commands(),mav_cmd); +} + struct PACKED log_Camera { LOG_PACKET_HEADER; uint32_t time_ms; @@ -265,7 +273,7 @@ static void Log_Write_Startup(uint8_t type) AP_Mission::Mission_Command cmd; for (uint16_t i = 0; i < mission.num_commands(); i++) { if(mission.read_cmd_from_storage(i,cmd)) { - DataFlash.Log_Write_Cmd(mission.num_commands(), cmd); + Log_Write_Cmd(cmd); } } } @@ -567,6 +575,7 @@ static void Log_Write_Startup(uint8_t type) {} static void Log_Write_Current() {} static void Log_Write_Nav_Tuning() {} static void Log_Write_Performance() {} +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 void Log_Write_Control_Tuning() {} static void Log_Write_Sonar() {}