diff --git a/ArduCopter/Log.cpp b/ArduCopter/Log.cpp index 15a9c763c8..2a6ba5496e 100644 --- a/ArduCopter/Log.cpp +++ b/ArduCopter/Log.cpp @@ -819,21 +819,6 @@ void Copter::Log_Write_Proximity() #endif } -// beacon sensor logging -struct PACKED log_Beacon { - LOG_PACKET_HEADER; - uint64_t time_us; - uint8_t health; - uint8_t count; - float dist0; - float dist1; - float dist2; - float dist3; - float posx; - float posy; - float posz; -}; - // Write beacon position and distances void Copter::Log_Write_Beacon() { @@ -841,26 +826,7 @@ void Copter::Log_Write_Beacon() if (!g2.beacon.enabled()) { return; } - - // position - Vector3f pos; - float accuracy = 0.0f; - g2.beacon.get_vehicle_position_ned(pos, accuracy); - - struct log_Beacon pkt = { - LOG_PACKET_HEADER_INIT(LOG_BEACON_MSG), - time_us : AP_HAL::micros64(), - health : (uint8_t)g2.beacon.healthy(), - count : (uint8_t)g2.beacon.count(), - dist0 : g2.beacon.beacon_distance(0), - dist1 : g2.beacon.beacon_distance(1), - dist2 : g2.beacon.beacon_distance(2), - dist3 : g2.beacon.beacon_distance(3), - posx : pos.x, - posy : pos.y, - posz : pos.z - }; - DataFlash.WriteBlock(&pkt, sizeof(pkt)); + DataFlash.Log_Write_Beacon(g2.beacon); } const struct LogStructure Copter::log_structure[] = { @@ -907,8 +873,6 @@ const struct LogStructure Copter::log_structure[] = { "THRO", "QBffffbbbb", "TimeUS,Stage,Vel,VelZ,Acc,AccEfZ,Throw,AttOk,HgtOk,PosOk" }, { LOG_PROXIMITY_MSG, sizeof(log_Proximity), "PRX", "QBfffffffffff","TimeUS,Health,D0,D45,D90,D135,D180,D225,D270,D315,DUp,CAn,CDis" }, - { LOG_BEACON_MSG, sizeof(log_Beacon), - "BCN", "QBBfffffff", "TimeUS,Health,Cnt,D0,D1,D2,D3,PosX,PosY,PosZ" }, }; #if CLI_ENABLED == ENABLED diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h index d71c153e08..a1fc3013c4 100644 --- a/ArduCopter/defines.h +++ b/ArduCopter/defines.h @@ -318,7 +318,6 @@ enum DevOptions { #define LOG_GUIDEDTARGET_MSG 0x22 #define LOG_THROW_MSG 0x23 #define LOG_PROXIMITY_MSG 0x24 -#define LOG_BEACON_MSG 0x25 #define MASK_LOG_ATTITUDE_FAST (1<<0) #define MASK_LOG_ATTITUDE_MED (1<<1)