Copter: moved beacon logging to dataflash

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

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)