diff --git a/Tools/Replay/LogReader.cpp b/Tools/Replay/LogReader.cpp index b5dd78c57e..b364b0a482 100644 --- a/Tools/Replay/LogReader.cpp +++ b/Tools/Replay/LogReader.cpp @@ -31,12 +31,6 @@ extern const AP_HAL::HAL& hal; const struct LogStructure log_structure[] = { LOG_COMMON_STRUCTURES, - { LOG_CHEK_MSG, sizeof(log_Chek), - "CHEK", - "QccCLLffff", - "TimeUS,Roll,Pitch,Yaw,Lat,Lng,Alt,VN,VE,VD", - "sdddDUmnnn", - "FBBBGGB000"} }; LogReader::LogReader(AP_AHRS &_ahrs, AP_InertialSensor &_ins, Compass &_compass, AP_GPS &_gps, diff --git a/Tools/Replay/Replay.cpp b/Tools/Replay/Replay.cpp index 52bb844ff6..fd0a057a61 100644 --- a/Tools/Replay/Replay.cpp +++ b/Tools/Replay/Replay.cpp @@ -724,21 +724,23 @@ void Replay::log_check_generate(void) _vehicle.EKF2.getVelNED(-1,velocity); _vehicle.EKF2.getLLH(loc); - struct log_Chek packet = { - LOG_PACKET_HEADER_INIT(LOG_CHEK_MSG), - time_us : AP_HAL::micros64(), - roll : (int16_t)(100*degrees(euler.x)), // roll angle (centi-deg, displayed as deg due to format string) - pitch : (int16_t)(100*degrees(euler.y)), // pitch angle (centi-deg, displayed as deg due to format string) - yaw : (uint16_t)wrap_360_cd(100*degrees(euler.z)), // yaw angle (centi-deg, displayed as deg due to format string) - lat : loc.lat, - lng : loc.lng, - alt : loc.alt*0.01f, - vnorth : velocity.x, - veast : velocity.y, - vdown : velocity.z + _vehicle.dataflash.Log_Write( + "CHEK", + "TimeUS,Roll,Pitch,Yaw,Lat,Lng,Alt,VN,VE,VD", + "sdddDUmnnn", + "FBBBGGB000", + "QccCLLffff", + AP_HAL::micros64(), + (int16_t)(100*degrees(euler.x)), // roll angle (centi-deg, displayed as deg due to format string) + (int16_t)(100*degrees(euler.y)), // pitch angle (centi-deg, displayed as deg due to format string) + (uint16_t)wrap_360_cd(100*degrees(euler.z)), // yaw angle (centi-deg, displayed as deg due to format string) + loc.lat, + loc.lng, + loc.alt*0.01f, + velocity.x, + velocity.y, + velocity.z }; - - _vehicle.dataflash.WriteBlock(&packet, sizeof(packet)); } diff --git a/Tools/Replay/Replay.h b/Tools/Replay/Replay.h index c77b32d8a0..9577d93103 100644 --- a/Tools/Replay/Replay.h +++ b/Tools/Replay/Replay.h @@ -180,10 +180,6 @@ private: FILE *xfopen(const char *f, const char *mode); }; -enum { - LOG_CHEK_MSG=100 -}; - /* Replay specific log structures */