AP_GPS: moved UBX log headers to DataFlash

headers were not always being written

libraries/AP_GPS/AP_GPS_UBLOX.cpp

@@ -44,8 +44,6 @@ extern const AP_HAL::HAL& hal;
 #define UBLOX_HW_LOGGING 0
 #endif
 
-bool AP_GPS_UBLOX::logging_started = false;
-
 AP_GPS_UBLOX::AP_GPS_UBLOX(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port) :
     AP_GPS_Backend(_gps, _state, _port),
     _step(0),
@@ -249,53 +247,13 @@ AP_GPS_UBLOX::read(void)
 // Private Methods /////////////////////////////////////////////////////////////
 #if UBLOX_HW_LOGGING
 
-#define LOG_MSG_UBX1 200
-#define LOG_MSG_UBX2 201
-
-struct PACKED log_Ubx1 {
-    LOG_PACKET_HEADER;
-    uint32_t timestamp;
-    uint8_t  instance;
-    uint16_t noisePerMS;
-    uint8_t  jamInd;
-    uint8_t  aPower;
-};
-
-struct PACKED log_Ubx2 {
-    LOG_PACKET_HEADER;
-    uint32_t timestamp;
-    uint8_t  instance;
-    int8_t   ofsI;
-    uint8_t  magI;
-    int8_t   ofsQ;
-    uint8_t  magQ;
-};
-
-static const struct LogStructure ubx_log_structures[] PROGMEM = {
-    { LOG_MSG_UBX1, sizeof(log_Ubx1),
-      "UBX1", "IBHBB",  "TimeMS,Instance,noisePerMS,jamInd,aPower" },
-    { LOG_MSG_UBX2, sizeof(log_Ubx2),
-      "UBX2", "IBbBbB", "TimeMS,Instance,ofsI,magI,ofsQ,magQ" }
-};
-
-void AP_GPS_UBLOX::write_logging_headers(void)
-{
-    if (!logging_started) {
-        logging_started = true;
-        gps._DataFlash->AddLogFormats(ubx_log_structures, 2);
-    }
-}
-
 void AP_GPS_UBLOX::log_mon_hw(void)
 {
     if (gps._DataFlash == NULL || !gps._DataFlash->logging_started()) {
         return;
     }
-    // log mon_hw message
-    write_logging_headers();
-
     struct log_Ubx1 pkt = {
-        LOG_PACKET_HEADER_INIT(LOG_MSG_UBX1),
+        LOG_PACKET_HEADER_INIT(LOG_UBX1_MSG),
         timestamp  : hal.scheduler->millis(),
         instance   : state.instance,
         noisePerMS : _buffer.mon_hw_60.noisePerMS,
@@ -315,11 +273,9 @@ void AP_GPS_UBLOX::log_mon_hw2(void)
     if (gps._DataFlash == NULL || !gps._DataFlash->logging_started()) {
         return;
     }
-    // log mon_hw message
-    write_logging_headers();
 
     struct log_Ubx2 pkt = {
-        LOG_PACKET_HEADER_INIT(LOG_MSG_UBX2),
+        LOG_PACKET_HEADER_INIT(LOG_UBX2_MSG),
         timestamp : hal.scheduler->millis(),
         instance  : state.instance,
         ofsI      : _buffer.mon_hw2.ofsI,

libraries/AP_GPS/AP_GPS_UBLOX.h

@@ -256,9 +256,6 @@ private:
     bool            _new_speed:1;
     bool            need_rate_update:1;
 
-    // have we written the logging headers to DataFlash?
-    static bool     logging_started;
-
     uint8_t         _disable_counter;
 
     // Buffer parse & GPS state update