Rover: move logger object up to AP_Vehicle

Rover/Log.cpp

@@ -308,22 +308,9 @@ const LogStructure Rover::log_structure[] = {
       "GUIP",  "QBffffff",    "TimeUS,Type,pX,pY,pZ,vX,vY,vZ", "s-mmmnnn", "F-000000" },
 };
 
-void Rover::log_init(void)
+uint8_t Rover::get_num_log_structures() const
 {
-    logger.Init(log_structure, ARRAY_SIZE(log_structure));
+    return ARRAY_SIZE(log_structure);
 }
 
-#else  // LOGGING_ENABLED
-
-// dummy functions
-void Rover::Log_Write_Attitude() {}
-void Rover::Log_Write_Depth() {}
-void Rover::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
-void Rover::Log_Write_Nav_Tuning() {}
-void Rover::Log_Write_Sail() {}
-void Rover::Log_Write_Throttle() {}
-void Rover::Log_Write_RC(void) {}
-void Rover::Log_Write_Steering() {}
-void Rover::Log_Write_Vehicle_Startup_Messages() {}
-
 #endif  // LOGGING_ENABLED

Rover/Parameters.cpp

@@ -316,12 +316,6 @@ const AP_Param::Info Rover::var_info[] = {
     // @Path: ../libraries/AP_Arming/AP_Arming.cpp
     GOBJECT(arming,                 "ARMING_", AP_Arming),
 
-#if HAL_LOGGING_ENABLED
-    // @Group: LOG
-    // @Path: ../libraries/AP_Logger/AP_Logger.cpp
-    GOBJECT(logger,           "LOG",  AP_Logger),
-#endif
-
     // @Group: BATT
     // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
     GOBJECT(battery,                "BATT", AP_BattMonitor),
@@ -944,4 +938,9 @@ void Rover::load_parameters(void)
     }
 #endif
 
+    // PARAMETER_CONVERSION - Added: Feb-2024 for Rover-4.6
+#if HAL_LOGGING_ENABLED
+    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
+#endif
+
 }

Rover/Rover.cpp

@@ -157,9 +157,6 @@ constexpr int8_t Rover::_failsafe_priorities[7];
 Rover::Rover(void) :
     AP_Vehicle(),
     param_loader(var_info),
-#if HAL_LOGGING_ENABLED
-    logger{g.log_bitmask},
-#endif
     modes(&g.mode1),
     control_mode(&mode_initializing)
 {

Rover/Rover.h

@@ -136,10 +136,6 @@ private:
     RC_Channel *channel_pitch;
     RC_Channel *channel_walking_height;
 
-#if HAL_LOGGING_ENABLED
-    AP_Logger logger;
-#endif
-
     // flight modes convenience array
     AP_Int8 *modes;
     const uint8_t num_modes = 6;
@@ -272,8 +268,6 @@ private:
     } cruise_learn_t;
     cruise_learn_t cruise_learn;
 
-private:
-
     // Rover.cpp
 #if AP_SCRIPTING_ENABLED
     bool set_target_location(const Location& target_loc) override;
@@ -334,6 +328,14 @@ private:
     // GCS_Mavlink.cpp
     void send_wheel_encoder_distance(mavlink_channel_t chan);
 
+#if HAL_LOGGING_ENABLED
+    // methods for AP_Vehicle:
+    const AP_Int32 &get_log_bitmask() override { return g.log_bitmask; }
+    const struct LogStructure *get_log_structures() const override {
+        return log_structure;
+    }
+    uint8_t get_num_log_structures() const override;
+
     // Log.cpp
     void Log_Write_Attitude();
     void Log_Write_Depth();
@@ -345,7 +347,7 @@ private:
     void Log_Write_RC(void);
     void Log_Write_Vehicle_Startup_Messages();
     void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page);
-    void log_init(void);
+#endif
 
     // mode.cpp
     Mode *mode_from_mode_num(enum Mode::Number num);

Rover/mode_guided.cpp

@@ -322,7 +322,9 @@ bool ModeGuided::set_desired_location(const Location &destination, Location next
     // handle guided specific initialisation and logging
     _guided_mode = SubMode::WP;
     send_notification = true;
+#if HAL_LOGGING_ENABLED
     rover.Log_Write_GuidedTarget((uint8_t)_guided_mode, Vector3f(destination.lat, destination.lng, 0), Vector3f(g2.wp_nav.get_speed_max(), 0.0f, 0.0f));
+#endif
     return true;
 }
 
@@ -338,8 +340,10 @@ void ModeGuided::set_desired_heading_and_speed(float yaw_angle_cd, float target_
     _desired_speed = target_speed;
     have_attitude_target = true;
 
+#if HAL_LOGGING_ENABLED
     // log new target
     rover.Log_Write_GuidedTarget((uint8_t)_guided_mode, Vector3f(_desired_yaw_cd, 0.0f, 0.0f), Vector3f(_desired_speed, 0.0f, 0.0f));
+#endif
 }
 
 void ModeGuided::set_desired_heading_delta_and_speed(float yaw_delta_cd, float target_speed)
@@ -364,8 +368,10 @@ void ModeGuided::set_desired_turn_rate_and_speed(float turn_rate_cds, float targ
     _desired_speed = target_speed;
     have_attitude_target = true;
 
+#if HAL_LOGGING_ENABLED
     // log new target
     rover.Log_Write_GuidedTarget((uint8_t)_guided_mode, Vector3f(_desired_yaw_rate_cds, 0.0f, 0.0f), Vector3f(_desired_speed, 0.0f, 0.0f));
+#endif
 }
 
 // set steering and throttle (both in the range -1 to +1)

Rover/sensors.cpp

@@ -91,5 +91,7 @@ void Rover::update_wheel_encoder()
 void Rover::read_rangefinders(void)
 {
     rangefinder.update();
+#if HAL_LOGGING_ENABLED
     Log_Write_Depth();
+#endif
 }

Rover/system.cpp

@@ -44,10 +44,6 @@ void Rover::init_ardupilot()
     osd.init();
 #endif
 
-#if HAL_LOGGING_ENABLED
-    log_init();
-#endif
-
     // initialise compass
     AP::compass().set_log_bit(MASK_LOG_COMPASS);
     AP::compass().init();