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AP_Mount: rename dataflash to logger

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Tom Pittenger 2019-02-11 00:33:19 -08:00 committed by Peter Barker
parent 7e2a944eb2
commit 9dc7e5342d
3 changed files with 11 additions and 11 deletions
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8
libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
View File

@ -118,13 +118,13 @@ void AP_Mount_SoloGimbal::handle_gimbal_report(mavlink_channel_t chan, const mav
_gimbal.update_target(_angle_ef_target_rad); _gimbal.update_target(_angle_ef_target_rad);
_gimbal.receive_feedback(chan,msg); _gimbal.receive_feedback(chan,msg);
AP_Logger *df = AP_Logger::get_singleton(); AP_Logger *logger = AP_Logger::get_singleton();
if (df == nullptr) { if (logger == nullptr) {
return; return;
} }
if(!_params_saved && df->logging_started()) { if(!_params_saved && logger->logging_started()) {
_gimbal.fetch_params(); //last parameter save might not be stored in dataflash so retry _gimbal.fetch_params(); //last parameter save might not be stored in logger so retry
_params_saved = true; _params_saved = true;
} }

8
libraries/AP_Mount/SoloGimbal.cpp
View File

@ -383,8 +383,8 @@ void SoloGimbal::update_target(const Vector3f &newTarget)
void SoloGimbal::write_logs() void SoloGimbal::write_logs()
{ {
AP_Logger *dataflash = AP_Logger::get_singleton(); AP_Logger *logger = AP_Logger::get_singleton();
if (dataflash == nullptr) { if (logger == nullptr) {
return; return;
} }
@ -409,7 +409,7 @@ void SoloGimbal::write_logs()
joint_angles_y : _measurement.joint_angles.y, joint_angles_y : _measurement.joint_angles.y,
joint_angles_z : _measurement.joint_angles.z joint_angles_z : _measurement.joint_angles.z
}; };
dataflash->WriteBlock(&pkt1, sizeof(pkt1)); logger->WriteBlock(&pkt1, sizeof(pkt1));
struct log_Gimbal2 pkt2 = { struct log_Gimbal2 pkt2 = {
LOG_PACKET_HEADER_INIT(LOG_GIMBAL2_MSG), LOG_PACKET_HEADER_INIT(LOG_GIMBAL2_MSG),
@ -425,7 +425,7 @@ void SoloGimbal::write_logs()
target_y: _att_target_euler_rad.y, target_y: _att_target_euler_rad.y,
target_z: _att_target_euler_rad.z target_z: _att_target_euler_rad.z
}; };
dataflash->WriteBlock(&pkt2, sizeof(pkt2)); logger->WriteBlock(&pkt2, sizeof(pkt2));
_log_dt = 0; _log_dt = 0;
_log_del_ang.zero(); _log_del_ang.zero();

6
libraries/AP_Mount/SoloGimbal_Parameters.cpp
View File

@ -185,9 +185,9 @@ void SoloGimbal_Parameters::handle_param_value(const mavlink_message_t *msg)
mavlink_param_value_t packet; mavlink_param_value_t packet;
mavlink_msg_param_value_decode(msg, &packet); mavlink_msg_param_value_decode(msg, &packet);
AP_Logger *dataflash = AP_Logger::get_singleton(); AP_Logger *logger = AP_Logger::get_singleton();
if (dataflash != nullptr) { if (logger != nullptr) {
dataflash->Write_Parameter(packet.param_id, packet.param_value); logger->Write_Parameter(packet.param_id, packet.param_value);
} }
for(uint8_t i=0; i<MAVLINK_GIMBAL_NUM_TRACKED_PARAMS; i++) { for(uint8_t i=0; i<MAVLINK_GIMBAL_NUM_TRACKED_PARAMS; i++) {