From 9ef920b0be7549dffb259b6de8adda3626166ed1 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sun, 16 Mar 2014 17:41:30 +0900 Subject: [PATCH] Plane: integrate dataflash Log_Write_MavCmd --- ArduPlane/Log.pde | 11 ++++++++++- ArduPlane/commands_logic.pde | 2 +- 2 files changed, 11 insertions(+), 2 deletions(-) diff --git a/ArduPlane/Log.pde b/ArduPlane/Log.pde index a258b83504..b1939f84df 100644 --- a/ArduPlane/Log.pde +++ b/ArduPlane/Log.pde @@ -227,6 +227,14 @@ static void Log_Write_Performance() DataFlash.WriteBlock(&pkt, sizeof(pkt)); } +// Write a mission command. Total length : 36 bytes +static void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd) +{ + mavlink_mission_item_t mav_cmd = {}; + AP_Mission::mission_cmd_to_mavlink(cmd,mav_cmd); + DataFlash.Log_Write_MavCmd(mission.num_commands(),mav_cmd); +} + struct PACKED log_Camera { LOG_PACKET_HEADER; uint32_t gps_time; @@ -277,7 +285,7 @@ static void Log_Write_Startup(uint8_t type) AP_Mission::Mission_Command cmd; for (uint16_t i = 0; i < mission.num_commands(); i++) { if (mission.read_cmd_from_storage(i,cmd)) { - DataFlash.Log_Write_Cmd(mission.num_commands(),cmd); + Log_Write_Cmd(cmd); } } } @@ -598,6 +606,7 @@ static void Log_Write_Current() {} static void Log_Write_Nav_Tuning() {} static void Log_Write_TECS_Tuning() {} static void Log_Write_Performance() {} +static void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd) {} static void Log_Write_Attitude() {} static void Log_Write_Control_Tuning() {} static void Log_Write_Camera() {} diff --git a/ArduPlane/commands_logic.pde b/ArduPlane/commands_logic.pde index 16d51c3cb5..00e9619a52 100644 --- a/ArduPlane/commands_logic.pde +++ b/ArduPlane/commands_logic.pde @@ -25,7 +25,7 @@ start_command(const AP_Mission::Mission_Command& cmd) { // log when new commands start if (g.log_bitmask & MASK_LOG_CMD) { - DataFlash.Log_Write_Cmd(mission.num_commands(),cmd); + Log_Write_Cmd(cmd); } // special handling for nav vs non-nav commands