From 8c488ebd87ef6908a386e3e7e88e9a0c3ba1b7e9 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 11 Jun 2014 11:55:50 +0900 Subject: [PATCH] Copter: use common Log_Write_Camera pair programmed with Craig Elder --- ArduCopter/Log.pde | 34 ---------------------------------- ArduCopter/commands_logic.pde | 2 +- ArduCopter/defines.h | 2 +- 3 files changed, 2 insertions(+), 36 deletions(-) diff --git a/ArduCopter/Log.pde b/ArduCopter/Log.pde index 1903da40b1..8b0167b6b8 100644 --- a/ArduCopter/Log.pde +++ b/ArduCopter/Log.pde @@ -609,37 +609,6 @@ static void Log_Write_Data(uint8_t id, float value) } } -struct PACKED log_Camera { - LOG_PACKET_HEADER; - uint32_t gps_time; - uint16_t gps_week; - int32_t latitude; - int32_t longitude; - int32_t altitude; - int16_t roll; - int16_t pitch; - uint16_t yaw; -}; - -// Write a Camera packet -static void Log_Write_Camera() -{ -#if CAMERA == ENABLED - struct log_Camera pkt = { - LOG_PACKET_HEADER_INIT(LOG_CAMERA_MSG), - gps_time : gps.time_week_ms(), - gps_week : gps.time_week(), - latitude : current_loc.lat, - longitude : current_loc.lng, - altitude : current_loc.alt, - roll : (int16_t)ahrs.roll_sensor, - pitch : (int16_t)ahrs.pitch_sensor, - yaw : (uint16_t)ahrs.yaw_sensor - }; - DataFlash.WriteBlock(&pkt, sizeof(pkt)); -#endif -} - struct PACKED log_Error { LOG_PACKET_HEADER; uint8_t sub_system; @@ -702,8 +671,6 @@ static const struct LogStructure log_structure[] PROGMEM = { "DU32", "BI", "Id,Value" }, { LOG_DATA_FLOAT_MSG, sizeof(log_Data_Float), "DFLT", "Bf", "Id,Value" }, - { LOG_CAMERA_MSG, sizeof(log_Camera), - "CAM", "IHLLeccC", "GPSTime,GPSWeek,Lat,Lng,Alt,Roll,Pitch,Yaw" }, { LOG_ERROR_MSG, sizeof(log_Error), "ERR", "BB", "Subsys,ECode" }, }; @@ -778,7 +745,6 @@ static void Log_Write_Nav_Tuning() {} static void Log_Write_Control_Tuning() {} static void Log_Write_Performance() {} static void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd) {} -static void Log_Write_Camera() {} static void Log_Write_Error(uint8_t sub_system, uint8_t error_code) {} static void Log_Write_Baro(void) {} static int8_t process_logs(uint8_t argc, const Menu::arg *argv) { diff --git a/ArduCopter/commands_logic.pde b/ArduCopter/commands_logic.pde index 3a2cbb0736..ae1c096606 100644 --- a/ArduCopter/commands_logic.pde +++ b/ArduCopter/commands_logic.pde @@ -853,7 +853,7 @@ static void do_take_picture() #if CAMERA == ENABLED camera.trigger_pic(); if (g.log_bitmask & MASK_LOG_CAMERA) { - Log_Write_Camera(); + DataFlash.Log_Write_Camera(ahrs, gps, current_loc); } #endif } diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h index 9e616815d1..0fa0e44926 100644 --- a/ArduCopter/defines.h +++ b/ArduCopter/defines.h @@ -220,7 +220,7 @@ enum FlipState { #define LOG_PID_MSG 0x0E // deprecated #define LOG_COMPASS_MSG 0x0F #define LOG_INAV_MSG 0x11 // deprecated -#define LOG_CAMERA_MSG 0x12 +#define LOG_CAMERA_MSG_DEPRECATED 0x12 // deprecated #define LOG_ERROR_MSG 0x13 #define LOG_DATA_INT16_MSG 0x14 #define LOG_DATA_UINT16_MSG 0x15