Copter: rename dataflash to logger

ArduCopter/APM_Config.h

@@ -4,7 +4,7 @@
 // valid! You should switch to using a HAL_BOARD flag in your local config.mk.
 
 // uncomment the lines below to disable features (flash sizes listed are for APM2 boards and will underestimate savings on Pixhawk and other boards)
-//#define LOGGING_ENABLED       DISABLED            // disable dataflash logging to save 11K of flash space
+//#define LOGGING_ENABLED       DISABLED            // disable logging to save 11K of flash space
 //#define MOUNT                 DISABLED            // disable the camera gimbal to save 8K of flash space
 //#define AUTOTUNE_ENABLED      DISABLED            // disable the auto tune functionality to save 7k of flash
 //#define AC_FENCE              DISABLED            // disable fence to save 2k of flash

ArduCopter/ArduCopter.cpp

@@ -492,7 +492,7 @@ void Copter::init_simple_bearing()
     super_simple_cos_yaw = simple_cos_yaw;
     super_simple_sin_yaw = simple_sin_yaw;
 
-    // log the simple bearing to dataflash
+    // log the simple bearing
     if (should_log(MASK_LOG_ANY)) {
         Log_Write_Data(DATA_INIT_SIMPLE_BEARING, ahrs.yaw_sensor);
     }
@@ -571,7 +571,6 @@ void Copter::update_altitude()
     // read in baro altitude
     read_barometer();
 
-    // write altitude info to dataflash logs
     if (should_log(MASK_LOG_CTUN)) {
         Log_Write_Control_Tuning();
     }

ArduCopter/Copter.h

@@ -224,7 +224,6 @@ private:
     RC_Channel *channel_throttle;
     RC_Channel *channel_yaw;
 
-    // Dataflash
     AP_Logger logger;
 
     AP_GPS gps;
@@ -292,7 +291,7 @@ private:
             uint8_t pre_arm_rc_check        : 1; // 3       // true if rc input pre-arm checks have been completed successfully
             uint8_t pre_arm_check           : 1; // 4       // true if all pre-arm checks (rc, accel calibration, gps lock) have been performed
             uint8_t auto_armed              : 1; // 5       // stops auto missions from beginning until throttle is raised
-            uint8_t logging_started         : 1; // 6       // true if dataflash logging has started
+            uint8_t logging_started         : 1; // 6       // true if logging has started
             uint8_t land_complete           : 1; // 7       // true if we have detected a landing
             uint8_t new_radio_frame         : 1; // 8       // Set true if we have new PWM data to act on from the Radio
             uint8_t usb_connected_unused    : 1; // 9       // UNUSED

ArduCopter/avoidance_adsb.cpp

@@ -88,7 +88,6 @@ MAV_COLLISION_ACTION AP_Avoidance_Copter::handle_avoidance(const AP_Avoidance::O
         }
     }
 
-    // log to dataflash
     if (failsafe_state_change) {
         AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_ADSB,
                                  LogErrorCode(actual_action));

ArduCopter/config.h

@@ -623,7 +623,7 @@
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
-// Dataflash logging control
+// Logging control
 //
 #ifndef LOGGING_ENABLED
  # define LOGGING_ENABLED                ENABLED

ArduCopter/crash_check.cpp

@@ -47,7 +47,6 @@ void Copter::crash_check()
 
     // check if crashing for 2 seconds
     if (crash_counter >= (CRASH_CHECK_TRIGGER_SEC * scheduler.get_loop_rate_hz())) {
-        // log an error in the dataflash
         AP::logger().Write_Error(LogErrorSubsystem::CRASH_CHECK, LogErrorCode::CRASH_CHECK_CRASH);
         // keep logging even if disarmed:
         AP::logger().set_force_log_disarmed(true);
@@ -115,7 +114,6 @@ void Copter::thrust_loss_check()
     if (thrust_loss_counter >= (THRUST_LOSS_CHECK_TRIGGER_SEC * scheduler.get_loop_rate_hz())) {
         // reset counter
         thrust_loss_counter = 0;
-        // log an error in the dataflash
         AP::logger().Write_Error(LogErrorSubsystem::THRUST_LOSS_CHECK, LogErrorCode::FAILSAFE_OCCURRED);
         // send message to gcs
         gcs().send_text(MAV_SEVERITY_EMERGENCY, "Potential Thrust Loss (%d)", (int)motors->get_lost_motor() + 1);
@@ -199,7 +197,6 @@ void Copter::parachute_check()
     } else if (control_loss_count >= (PARACHUTE_CHECK_TRIGGER_SEC*scheduler.get_loop_rate_hz())) {
         // reset control loss counter
         control_loss_count = 0;
-        // log an error in the dataflash
         AP::logger().Write_Error(LogErrorSubsystem::CRASH_CHECK, LogErrorCode::CRASH_CHECK_LOSS_OF_CONTROL);
         // release parachute
         parachute_release();
@@ -233,7 +230,6 @@ void Copter::parachute_manual_release()
     if (ap.land_complete) {
         // warn user of reason for failure
         gcs().send_text(MAV_SEVERITY_INFO,"Parachute: Landed");
-        // log an error in the dataflash
         AP::logger().Write_Error(LogErrorSubsystem::PARACHUTES, LogErrorCode::PARACHUTE_LANDED);
         return;
     }
@@ -242,7 +238,6 @@ void Copter::parachute_manual_release()
     if ((parachute.alt_min() != 0 && (current_loc.alt < (int32_t)parachute.alt_min() * 100))) {
         // warn user of reason for failure
         gcs().send_text(MAV_SEVERITY_ALERT,"Parachute: Too low");
-        // log an error in the dataflash
         AP::logger().Write_Error(LogErrorSubsystem::PARACHUTES, LogErrorCode::PARACHUTE_TOO_LOW);
         return;
     }

ArduCopter/ekf_check.cpp

@@ -54,7 +54,6 @@ void Copter::ekf_check()
                 // limit count from climbing too high
                 ekf_check_state.fail_count = EKF_CHECK_ITERATIONS_MAX;
                 ekf_check_state.bad_variance = true;
-                // log an error in the dataflash
                 AP::logger().Write_Error(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_BAD_VARIANCE);
                 // send message to gcs
                 if ((AP_HAL::millis() - ekf_check_state.last_warn_time) > EKF_CHECK_WARNING_TIME) {
@@ -72,7 +71,6 @@ void Copter::ekf_check()
             // if compass is flagged as bad and the counter reaches zero then clear flag
             if (ekf_check_state.bad_variance && ekf_check_state.fail_count == 0) {
                 ekf_check_state.bad_variance = false;
-                // log recovery in the dataflash
                 AP::logger().Write_Error(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_VARIANCE_CLEARED);
                 // clear failsafe
                 failsafe_ekf_off_event();
@@ -173,7 +171,6 @@ void Copter::failsafe_ekf_off_event(void)
         return;
     }
 
-    // clear flag and log recovery
     failsafe.ekf = false;
     AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_RESOLVED);
 }

ArduCopter/events.cpp

@@ -35,7 +35,6 @@ void Copter::failsafe_radio_on_event()
         }
     }
 
-    // log the error to the dataflash
     AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_RADIO, LogErrorCode::FAILSAFE_OCCURRED);
 
 }
@@ -116,7 +115,6 @@ void Copter::failsafe_gcs_check()
     }
 
     // GCS failsafe event has occurred
-    // update state, log to dataflash
     set_failsafe_gcs(true);
     AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_GCS, LogErrorCode::FAILSAFE_OCCURRED);
 
@@ -141,7 +139,6 @@ void Copter::failsafe_gcs_check()
 // failsafe_gcs_off_event - actions to take when GCS contact is restored
 void Copter::failsafe_gcs_off_event(void)
 {
-    // log recovery of GCS in logs?
     AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_GCS, LogErrorCode::FAILSAFE_RESOLVED);
 }
 

ArduCopter/failsafe.cpp

@@ -57,7 +57,7 @@ void Copter::failsafe_check()
         if (motors->armed()) {
             motors->output_min();
         }
-        // log an error
+
         AP::logger().Write_Error(LogErrorSubsystem::CPU, LogErrorCode::FAILSAFE_OCCURRED);
     }
 

ArduCopter/fence.cpp

@@ -69,7 +69,6 @@ void Copter::fence_check()
             }
         }
 
-        // log an error in the dataflash
         AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode(new_breaches));
 
     } else if (orig_breaches) {

ArduCopter/mode_rtl.cpp

@@ -22,7 +22,6 @@ bool Copter::ModeRTL::init(bool ignore_checks)
 // re-start RTL with terrain following disabled
 void Copter::ModeRTL::restart_without_terrain()
 {
-    // log an error
     AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::RESTARTED_RTL);
     if (rtl_path.terrain_used) {
         build_path(false);

ArduCopter/motors.cpp

@@ -156,7 +156,7 @@ bool Copter::init_arm_motors(const AP_Arming::Method method, const bool do_armin
         return false;
     }
 
-    // let dataflash know that we're armed (it may open logs e.g.)
+    // let logger know that we're armed (it may open logs e.g.)
     AP::logger().set_vehicle_armed(true);
 
     // disable cpu failsafe because initialising everything takes a while
@@ -217,7 +217,6 @@ bool Copter::init_arm_motors(const AP_Arming::Method method, const bool do_armin
     // finally actually arm the motors
     motors->armed(true);
 
-    // log arming to dataflash
     Log_Write_Event(DATA_ARMED);
 
     // log flight mode in case it was changed while vehicle was disarmed
@@ -276,7 +275,6 @@ void Copter::init_disarm_motors()
     set_land_complete(true);
     set_land_complete_maybe(true);
 
-    // log disarm to the dataflash
     Log_Write_Event(DATA_DISARMED);
 
     // send disarm command to motors