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AP_Logger: move logging of ARSP into Airspeed library

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Peter Barker 2019-04-06 13:44:41 +11:00 committed by Andrew Tridgell
parent 59ef486da0
commit d90e554608
2 changed files with 0 additions and 36 deletions
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1
libraries/AP_Logger/AP_Logger.h
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@ -253,7 +253,6 @@ public:
void Write_Camera(const AP_AHRS &ahrs, const Location &current_loc, uint64_t timestamp_us=0);
void Write_Trigger(const AP_AHRS &ahrs, const Location &current_loc);
void Write_ESC(uint8_t id, uint64_t time_us, int32_t rpm, uint16_t voltage, uint16_t current, int16_t temperature, uint16_t current_tot);
void Write_Airspeed();
void Write_Attitude(AP_AHRS &ahrs, const Vector3f &targets);
void Write_AttitudeView(AP_AHRS_View &ahrs, const Vector3f &targets);
void Write_Current();

35
libraries/AP_Logger/LogFile.cpp
View File

@ -8,7 +8,6 @@
#include <AP_Math/AP_Math.h>
#include <AP_Param/AP_Param.h>
#include <AP_Motors/AP_Motors.h>
#include <AP_Airspeed/AP_Airspeed.h>
#include <AC_AttitudeControl/AC_AttitudeControl.h>
#include <AC_AttitudeControl/AC_PosControl.h>
#include <AP_RangeFinder/RangeFinder_Backend.h>
@ -1530,40 +1529,6 @@ void AP_Logger::Write_ESC(uint8_t id, uint64_t time_us, int32_t rpm, uint16_t vo
WriteBlock(&pkt, sizeof(pkt));
}
// Write a AIRSPEED packet
void AP_Logger::Write_Airspeed()
{
AP_Airspeed *airspeed = AP::airspeed();
if (airspeed == nullptr) {
return;
}
uint64_t now = AP_HAL::micros64();
for (uint8_t i=0; i<AIRSPEED_MAX_SENSORS; i++) {
if (!airspeed->enabled(i)) {
continue;
}
float temperature;
if (!airspeed->get_temperature(i, temperature)) {
temperature = 0;
}
struct log_AIRSPEED pkt = {
LOG_PACKET_HEADER_INIT(i==0?LOG_ARSP_MSG:LOG_ASP2_MSG),
time_us : now,
airspeed : airspeed->get_raw_airspeed(i),
diffpressure : airspeed->get_differential_pressure(i),
temperature : (int16_t)(temperature * 100.0f),
rawpressure : airspeed->get_corrected_pressure(i),
offset : airspeed->get_offset(i),
use : airspeed->use(i),
healthy : airspeed->healthy(i),
health_prob : airspeed->get_health_failure_probability(i),
primary : airspeed->get_primary()
};
WriteBlock(&pkt, sizeof(pkt));
}
}
// Write a Yaw PID packet
void AP_Logger::Write_PID(uint8_t msg_type, const PID_Info &info)
{