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Blimp: move logging of compass ERR flags into AP_Compass

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Peter Barker 2022-05-03 11:49:56 +10:00 committed by Peter Barker
parent 8a9a856de8
commit b33fda72fe
3 changed files with 0 additions and 25 deletions
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4
Blimp/Blimp.cpp
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@ -63,8 +63,6 @@ const AP_Scheduler::Task Blimp::scheduler_tasks[] = {
FAST_TASK(update_flight_mode), FAST_TASK(update_flight_mode),
// update home from EKF if necessary // update home from EKF if necessary
FAST_TASK(update_home_from_EKF), FAST_TASK(update_home_from_EKF),
// log sensor health
FAST_TASK(Log_Sensor_Health),
SCHED_TASK(rc_loop, 100, 130, 3), SCHED_TASK(rc_loop, 100, 130, 3),
SCHED_TASK(throttle_loop, 50, 75, 6), SCHED_TASK(throttle_loop, 50, 75, 6),
@ -277,8 +275,6 @@ Blimp::Blimp(void)
param_loader(var_info), param_loader(var_info),
flightmode(&mode_manual) flightmode(&mode_manual)
{ {
// init sensor error logging flags
sensor_health.compass = true;
} }
Blimp blimp; Blimp blimp;

6
Blimp/Blimp.h
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@ -187,11 +187,6 @@ private:
return failsafe.radio || battery.has_failsafed() || failsafe.gcs || failsafe.ekf; return failsafe.radio || battery.has_failsafed() || failsafe.gcs || failsafe.ekf;
} }
// sensor health for logging
struct {
uint8_t compass : 1; // true if compass is healthy
} sensor_health;
// Motor Output // Motor Output
Fins *motors; Fins *motors;
@ -362,7 +357,6 @@ private:
void Log_Write_Data(LogDataID id, uint16_t value); void Log_Write_Data(LogDataID id, uint16_t value);
void Log_Write_Data(LogDataID id, float value); void Log_Write_Data(LogDataID id, float value);
void Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max); void Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max);
void Log_Sensor_Health();
void Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target); void Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target);
void Log_Write_SysID_Setup(uint8_t systemID_axis, float waveform_magnitude, float frequency_start, float frequency_stop, float time_fade_in, float time_const_freq, float time_record, float time_fade_out); void Log_Write_SysID_Setup(uint8_t systemID_axis, float waveform_magnitude, float frequency_start, float frequency_stop, float time_fade_in, float time_const_freq, float time_record, float time_fade_out);
void Log_Write_SysID_Data(float waveform_time, float waveform_sample, float waveform_freq, float angle_x, float angle_y, float angle_z, float accel_x, float accel_y, float accel_z); void Log_Write_SysID_Data(float waveform_time, float waveform_sample, float waveform_freq, float angle_x, float angle_y, float angle_z, float accel_x, float accel_y, float accel_z);

15
Blimp/Log.cpp
View File

@ -232,20 +232,6 @@ tuning_max : tune_max
logger.WriteBlock(&pkt_tune, sizeof(pkt_tune)); logger.WriteBlock(&pkt_tune, sizeof(pkt_tune));
} }
// logs when compass becomes unhealthy
void Blimp::Log_Sensor_Health()
{
if (!should_log(MASK_LOG_ANY)) {
return;
}
// check compass
if (sensor_health.compass != compass.healthy()) {
sensor_health.compass = compass.healthy();
AP::logger().Write_Error(LogErrorSubsystem::COMPASS, (sensor_health.compass ? LogErrorCode::ERROR_RESOLVED : LogErrorCode::UNHEALTHY));
}
}
struct PACKED log_SysIdD { struct PACKED log_SysIdD {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint64_t time_us; uint64_t time_us;
@ -518,7 +504,6 @@ void Blimp::Log_Write_Data(LogDataID id, int16_t value) {}
void Blimp::Log_Write_Data(LogDataID id, uint16_t value) {} void Blimp::Log_Write_Data(LogDataID id, uint16_t value) {}
void Blimp::Log_Write_Data(LogDataID id, float value) {} void Blimp::Log_Write_Data(LogDataID id, float value) {}
void Blimp::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max) {} void Blimp::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max) {}
void Blimp::Log_Sensor_Health() {}
void Blimp::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {} void Blimp::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
void Blimp::Log_Write_SysID_Setup(uint8_t systemID_axis, float waveform_magnitude, float frequency_start, float frequency_stop, float time_fade_in, float time_const_freq, float time_record, float time_fade_out) {} void Blimp::Log_Write_SysID_Setup(uint8_t systemID_axis, float waveform_magnitude, float frequency_start, float frequency_stop, float time_fade_in, float time_const_freq, float time_record, float time_fade_out) {}
void Blimp::Log_Write_SysID_Data(float waveform_time, float waveform_sample, float waveform_freq, float angle_x, float angle_y, float angle_z, float accel_x, float accel_y, float accel_z) {} void Blimp::Log_Write_SysID_Data(float waveform_time, float waveform_sample, float waveform_freq, float angle_x, float angle_y, float angle_z, float accel_x, float accel_y, float accel_z) {}