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Plane: integrate dataflash Log_Write_MavCmd

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This commit is contained in:
Randy Mackay 2014-03-16 17:41:30 +09:00
parent 869f325c66
commit 9ef920b0be
2 changed files with 11 additions and 2 deletions
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11
ArduPlane/Log.pde
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@ -227,6 +227,14 @@ 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 gps_time;
@ -277,7 +285,7 @@ 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);
}
}
}
@ -598,6 +606,7 @@ static void Log_Write_Current() {}
static void Log_Write_Nav_Tuning() {}
static void Log_Write_TECS_Tuning() {}
static void Log_Write_Performance() {}
static void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd) {}
static void Log_Write_Attitude() {}
static void Log_Write_Control_Tuning() {}
static void Log_Write_Camera() {}

2
ArduPlane/commands_logic.pde
View File

@ -25,7 +25,7 @@ start_command(const AP_Mission::Mission_Command& cmd)
{
// log when new commands start
if (g.log_bitmask & MASK_LOG_CMD) {
DataFlash.Log_Write_Cmd(mission.num_commands(),cmd);
Log_Write_Cmd(cmd);
}
// special handling for nav vs non-nav commands