From d50e4d03f426619728702d1ace59f764f498ca0e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 20 Nov 2020 09:25:51 +1100
Subject: [PATCH] AP_Logger: remove time_us parameter to several sensor logging
 methods

These were used by the old Replay code to try to provide a frame of
sensor data by correlating the timestamps.  That Replay code has been
removed.
---
 libraries/AP_Logger/AP_Logger.h |  6 +++---
 libraries/AP_Logger/LogFile.cpp | 20 +++++++-------------
 2 files changed, 10 insertions(+), 16 deletions(-)

diff --git a/libraries/AP_Logger/AP_Logger.h b/libraries/AP_Logger/AP_Logger.h
index aff5a312f8..07341752a1 100644
--- a/libraries/AP_Logger/AP_Logger.h
+++ b/libraries/AP_Logger/AP_Logger.h
@@ -229,7 +229,7 @@ public:
     void Write_Event(LogEvent id);
     void Write_Error(LogErrorSubsystem sub_system,
                      LogErrorCode error_code);
-    void Write_GPS(uint8_t instance, uint64_t time_us=0);
+    void Write_GPS(uint8_t instance);
     void Write_IMU();
     bool Write_ISBH(uint16_t seqno,
                         AP_InertialSensor::IMU_SENSOR_TYPE sensor_type,
@@ -248,7 +248,7 @@ public:
     void Write_RCOUT(void);
     void Write_RSSI();
     void Write_Rally();
-    void Write_Baro(uint64_t time_us=0);
+    void Write_Baro();
     void Write_Power(void);
     void Write_AHRS2();
     void Write_POS();
@@ -264,7 +264,7 @@ public:
     void Write_Attitude(const Vector3f &targets);
     void Write_AttitudeView(AP_AHRS_View &ahrs, const Vector3f &targets);
     void Write_Current();
-    void Write_Compass(uint64_t time_us=0);
+    void Write_Compass();
     void Write_Mode(uint8_t mode, const ModeReason reason);
 
     void Write_EntireMission();
diff --git a/libraries/AP_Logger/LogFile.cpp b/libraries/AP_Logger/LogFile.cpp
index 120382f537..11f977c018 100644
--- a/libraries/AP_Logger/LogFile.cpp
+++ b/libraries/AP_Logger/LogFile.cpp
@@ -131,12 +131,10 @@ bool AP_Logger_Backend::Write_Parameter(const AP_Param *ap,
 }
 
 // Write an GPS packet
-void AP_Logger::Write_GPS(uint8_t i, uint64_t time_us)
+void AP_Logger::Write_GPS(uint8_t i)
 {
     const AP_GPS &gps = AP::gps();
-    if (time_us == 0) {
-        time_us = AP_HAL::micros64();
-    }
+    const uint64_t time_us = AP_HAL::micros64();
     const struct Location &loc = gps.location(i);
 
     float yaw_deg=0, yaw_accuracy_deg=0;
@@ -290,11 +288,9 @@ void AP_Logger::Write_Baro_instance(uint64_t time_us, uint8_t baro_instance)
 }
 
 // Write a BARO packet
-void AP_Logger::Write_Baro(uint64_t time_us)
+void AP_Logger::Write_Baro()
 {
-    if (time_us == 0) {
-        time_us = AP_HAL::micros64();
-    }
+    const uint64_t time_us = AP_HAL::micros64();
     const AP_Baro &baro = AP::baro();
     for (uint8_t i=0; i< baro.num_instances(); i++) {
         Write_Baro_instance(time_us, i);
@@ -330,7 +326,7 @@ void AP_Logger::Write_IMU_instance(const uint64_t time_us, const uint8_t imu_ins
 // Write an raw accel/gyro data packet
 void AP_Logger::Write_IMU()
 {
-    uint64_t time_us = AP_HAL::micros64();
+    const uint64_t time_us = AP_HAL::micros64();
 
     const AP_InertialSensor &ins = AP::ins();
 
@@ -692,11 +688,9 @@ void AP_Logger::Write_Compass_instance(const uint64_t time_us, const uint8_t mag
 }
 
 // Write a Compass packet
-void AP_Logger::Write_Compass(uint64_t time_us)
+void AP_Logger::Write_Compass()
 {
-    if (time_us == 0) {
-        time_us = AP_HAL::micros64();
-    }
+    const uint64_t time_us = AP_HAL::micros64();
     const Compass &compass = AP::compass();
     for (uint8_t i=0; i<compass.get_count(); i++) {
         Write_Compass_instance(time_us, i);