Copter: move precision landing logging up into AC_PrecLand

ArduCopter/Copter.cpp

@@ -462,11 +462,6 @@ void Copter::twentyfive_hz_logging()
     }
 #endif
 
-#if PRECISION_LANDING == ENABLED
-    // log output
-    Log_Write_Precland();
-#endif
-
 #if MODE_AUTOROTATE_ENABLED == ENABLED
     if (should_log(MASK_LOG_ATTITUDE_MED) || should_log(MASK_LOG_ATTITUDE_FAST)) {
         //update autorotation log

ArduCopter/Copter.h

@@ -792,7 +792,6 @@ private:
 #if FRAME_CONFIG == HELI_FRAME
     void Log_Write_Heli(void);
 #endif
-    void Log_Write_Precland();
     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_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);

ArduCopter/Log.cpp

@@ -366,60 +366,6 @@ void Copter::Log_Write_Heli()
 }
 #endif
 
-// precision landing logging
-struct PACKED log_Precland {
-    LOG_PACKET_HEADER;
-    uint64_t time_us;
-    uint8_t healthy;
-    uint8_t target_acquired;
-    float pos_x;
-    float pos_y;
-    float vel_x;
-    float vel_y;
-    float meas_x;
-    float meas_y;
-    float meas_z;
-    uint32_t last_meas;
-    uint32_t ekf_outcount;
-    uint8_t estimator;
-};
-
-// Write a precision landing entry
-void Copter::Log_Write_Precland()
-{
- #if PRECISION_LANDING == ENABLED
-    // exit immediately if not enabled
-    if (!precland.enabled()) {
-        return;
-    }
-
-    Vector3f target_pos_meas = Vector3f(0.0f,0.0f,0.0f);
-    Vector2f target_pos_rel = Vector2f(0.0f,0.0f);
-    Vector2f target_vel_rel = Vector2f(0.0f,0.0f);
-    precland.get_target_position_relative_cm(target_pos_rel);
-    precland.get_target_velocity_relative_cms(target_vel_rel);
-    precland.get_target_position_measurement_cm(target_pos_meas);
-
-    struct log_Precland pkt = {
-        LOG_PACKET_HEADER_INIT(LOG_PRECLAND_MSG),
-        time_us         : AP_HAL::micros64(),
-        healthy         : precland.healthy(),
-        target_acquired : precland.target_acquired(),
-        pos_x           : target_pos_rel.x,
-        pos_y           : target_pos_rel.y,
-        vel_x           : target_vel_rel.x,
-        vel_y           : target_vel_rel.y,
-        meas_x          : target_pos_meas.x,
-        meas_y          : target_pos_meas.y,
-        meas_z          : target_pos_meas.z,
-        last_meas       : precland.last_backend_los_meas_ms(),
-        ekf_outcount    : precland.ekf_outlier_count(),
-        estimator       : precland.estimator_type()
-    };
-    logger.WriteBlock(&pkt, sizeof(pkt));
- #endif     // PRECISION_LANDING == ENABLED
-}
-
 // guided target logging
 struct PACKED log_GuidedTarget {
     LOG_PACKET_HEADER;
@@ -552,26 +498,6 @@ const struct LogStructure Copter::log_structure[] = {
       "HELI",  "Qffff",        "TimeUS,DRRPM,ERRPM,Gov,Throt", "s----", "F----" },
 #endif
 
-// @LoggerMessage: PL
-// @Description: Precision Landing messages
-// @Field: TimeUS: Time since system startup
-// @Field: Heal: True if Precision Landing is healthy
-// @Field: TAcq: True if landing target is detected
-// @Field: pX: Target position relative to vehicle, X-Axis (0 if target not found)
-// @Field: pY: Target position relative to vehicle, Y-Axis (0 if target not found)
-// @Field: vX: Target velocity relative to vehicle, X-Axis (0 if target not found)
-// @Field: vY: Target velocity relative to vehicle, Y-Axis (0 if target not found)
-// @Field: mX: Target's relative to origin position as 3-D Vector, X-Axis
-// @Field: mY: Target's relative to origin position as 3-D Vector, Y-Axis
-// @Field: mZ: Target's relative to origin position as 3-D Vector, Z-Axis
-// @Field: LastMeasMS: Time when target was last detected
-// @Field: EKFOutl: EKF's outlier count
-// @Field: Est: Type of estimator used
-#if PRECISION_LANDING == ENABLED
-    { LOG_PRECLAND_MSG, sizeof(log_Precland),
-      "PL",    "QBBfffffffIIB",    "TimeUS,Heal,TAcq,pX,pY,vX,vY,mX,mY,mZ,LastMeasMS,EKFOutl,Est", "s--mmnnmmms--","F--BBBBBBBC--" },
-#endif
-
 // @LoggerMessage: SIDD
 // @Description: System ID data
 // @Field: TimeUS: Time since system startup
@@ -645,7 +571,6 @@ void Copter::Log_Write_Data(LogDataID id, uint16_t value) {}
 void Copter::Log_Write_Data(LogDataID id, float value) {}
 void Copter::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max) {}
 void Copter::Log_Sensor_Health() {}
-void Copter::Log_Write_Precland() {}
 void Copter::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
 void Copter::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 Copter::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) {}

ArduCopter/defines.h

@@ -154,7 +154,6 @@ enum LoggingParameters {
      LOG_MOTBATT_MSG,
      LOG_PARAMTUNE_MSG,
      LOG_HELI_MSG,
-     LOG_PRECLAND_MSG,
      LOG_GUIDEDTARGET_MSG,
      LOG_SYSIDD_MSG,
      LOG_SYSIDS_MSG,