Copter: move Log_Write_Error into library

ArduCopter/Copter.h

@@ -724,7 +724,6 @@ private:
     void Log_Write_Data(uint8_t id, int16_t value);
     void Log_Write_Data(uint8_t id, uint16_t value);
     void Log_Write_Data(uint8_t id, float value);
-    void Log_Write_Error(uint8_t sub_system, uint8_t error_code);
     void Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t control_in, int16_t tune_low, int16_t tune_high);
     void Log_Sensor_Health();
 #if FRAME_CONFIG == HELI_FRAME

ArduCopter/Log.cpp

@@ -229,25 +229,6 @@ void Copter::Log_Write_Data(uint8_t id, float value)
     }
 }
 
-struct PACKED log_Error {
-    LOG_PACKET_HEADER;
-    uint64_t time_us;
-    uint8_t sub_system;
-    uint8_t error_code;
-};
-
-// Write an error packet
-void Copter::Log_Write_Error(uint8_t sub_system, uint8_t error_code)
-{
-    struct log_Error pkt = {
-        LOG_PACKET_HEADER_INIT(LOG_ERROR_MSG),
-        time_us       : AP_HAL::micros64(),
-        sub_system    : sub_system,
-        error_code    : error_code,
-    };
-    logger.WriteCriticalBlock(&pkt, sizeof(pkt));
-}
-
 struct PACKED log_ParameterTuning {
     LOG_PACKET_HEADER;
     uint64_t time_us;
@@ -279,13 +260,14 @@ void Copter::Log_Sensor_Health()
     // check baro
     if (sensor_health.baro != barometer.healthy()) {
         sensor_health.baro = barometer.healthy();
-        Log_Write_Error(ERROR_SUBSYSTEM_BARO, (sensor_health.baro ? ERROR_CODE_ERROR_RESOLVED : ERROR_CODE_UNHEALTHY));
+        AP::logger().Write_Error(LogErrorSubsystem::BARO,
+                                 (sensor_health.baro ? LogErrorCode::ERROR_RESOLVED : LogErrorCode::UNHEALTHY));
     }
 
     // check compass
     if (sensor_health.compass != compass.healthy()) {
         sensor_health.compass = compass.healthy();
-        Log_Write_Error(ERROR_SUBSYSTEM_COMPASS, (sensor_health.compass ? ERROR_CODE_ERROR_RESOLVED : ERROR_CODE_UNHEALTHY));
+        AP::logger().Write_Error(LogErrorSubsystem::COMPASS, (sensor_health.compass ? LogErrorCode::ERROR_RESOLVED : LogErrorCode::UNHEALTHY));
     }
 
     // check primary GPS
@@ -421,8 +403,6 @@ const struct LogStructure Copter::log_structure[] = {
       "DU32",  "QBI",         "TimeUS,Id,Value", "s--", "F--" },
     { LOG_DATA_FLOAT_MSG, sizeof(log_Data_Float),         
       "DFLT",  "QBf",         "TimeUS,Id,Value", "s--", "F--" },
-    { LOG_ERROR_MSG, sizeof(log_Error),         
-      "ERR",   "QBB",         "TimeUS,Subsys,ECode", "s--", "F--" },
 #if FRAME_CONFIG == HELI_FRAME
     { LOG_HELI_MSG, sizeof(log_Heli),
       "HELI",  "Qff",         "TimeUS,DRRPM,ERRPM", "s--", "F--" },
@@ -463,7 +443,6 @@ void Copter::Log_Write_Data(uint8_t id, uint32_t value) {}
 void Copter::Log_Write_Data(uint8_t id, int16_t value) {}
 void Copter::Log_Write_Data(uint8_t id, uint16_t value) {}
 void Copter::Log_Write_Data(uint8_t id, float value) {}
-void Copter::Log_Write_Error(uint8_t sub_system, uint8_t error_code) {}
 void Copter::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t control_in, int16_t tune_low, int16_t tune_high) {}
 void Copter::Log_Sensor_Health() {}
 void Copter::Log_Write_Precland() {}

ArduCopter/avoidance_adsb.cpp

@@ -90,7 +90,8 @@ MAV_COLLISION_ACTION AP_Avoidance_Copter::handle_avoidance(const AP_Avoidance::O
 
     // log to dataflash
     if (failsafe_state_change) {
-        copter.Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_ADSB, actual_action);
+        AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_ADSB,
+                                 LogErrorCode(actual_action));
     }
 
     // return with action taken
@@ -102,7 +103,8 @@ void AP_Avoidance_Copter::handle_recovery(uint8_t recovery_action)
     // check we are coming out of failsafe
     if (copter.failsafe.adsb) {
         copter.failsafe.adsb = false;
-        copter.Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_ADSB, ERROR_CODE_ERROR_RESOLVED);
+        AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_ADSB,
+                                 LogErrorCode::ERROR_RESOLVED);
 
         // restore flight mode if requested and user has not changed mode since
         if (copter.control_mode_reason == MODE_REASON_AVOIDANCE) {

ArduCopter/crash_check.cpp

@@ -48,7 +48,7 @@ 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
-        Log_Write_Error(ERROR_SUBSYSTEM_CRASH_CHECK, ERROR_CODE_CRASH_CHECK_CRASH);
+        AP::logger().Write_Error(LogErrorSubsystem::CRASH_CHECK, LogErrorCode::CRASH_CHECK_CRASH);
         // keep logging even if disarmed:
         AP::logger().set_force_log_disarmed(true);
         // send message to gcs
@@ -116,7 +116,7 @@ void Copter::thrust_loss_check()
         // reset counter
         thrust_loss_counter = 0;
         // log an error in the dataflash
-        Log_Write_Error(ERROR_SUBSYSTEM_THRUST_LOSS_CHECK, ERROR_CODE_FAILSAFE_OCCURRED);
+        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);
         // enable thrust loss handling
@@ -200,7 +200,7 @@ void Copter::parachute_check()
         // reset control loss counter
         control_loss_count = 0;
         // log an error in the dataflash
-        Log_Write_Error(ERROR_SUBSYSTEM_CRASH_CHECK, ERROR_CODE_CRASH_CHECK_LOSS_OF_CONTROL);
+        AP::logger().Write_Error(LogErrorSubsystem::CRASH_CHECK, LogErrorCode::CRASH_CHECK_LOSS_OF_CONTROL);
         // release parachute
         parachute_release();
     }
@@ -234,7 +234,7 @@ void Copter::parachute_manual_release()
         // warn user of reason for failure
         gcs().send_text(MAV_SEVERITY_INFO,"Parachute: Landed");
         // log an error in the dataflash
-        Log_Write_Error(ERROR_SUBSYSTEM_PARACHUTE, ERROR_CODE_PARACHUTE_LANDED);
+        AP::logger().Write_Error(LogErrorSubsystem::PARACHUTES, LogErrorCode::PARACHUTE_LANDED);
         return;
     }
 
@@ -243,7 +243,7 @@ void Copter::parachute_manual_release()
         // warn user of reason for failure
         gcs().send_text(MAV_SEVERITY_ALERT,"Parachute: Too low");
         // log an error in the dataflash
-        Log_Write_Error(ERROR_SUBSYSTEM_PARACHUTE, ERROR_CODE_PARACHUTE_TOO_LOW);
+        AP::logger().Write_Error(LogErrorSubsystem::PARACHUTES, LogErrorCode::PARACHUTE_TOO_LOW);
         return;
     }
 

ArduCopter/defines.h

@@ -240,7 +240,6 @@ enum LoggingParameters {
      TYPE_AIRSTART_MSG,
      TYPE_GROUNDSTART_MSG,
      LOG_CONTROL_TUNING_MSG,
-     LOG_ERROR_MSG,
      LOG_DATA_INT16_MSG,
      LOG_DATA_UINT16_MSG,
      LOG_DATA_INT32_MSG,
@@ -274,67 +273,6 @@ enum LoggingParameters {
 #define MASK_LOG_IMU_RAW                (1UL<<19)
 #define MASK_LOG_ANY                    0xFFFF
 
-// Error message sub systems and error codes
-#define ERROR_SUBSYSTEM_MAIN                1
-#define ERROR_SUBSYSTEM_RADIO               2
-#define ERROR_SUBSYSTEM_COMPASS             3
-#define ERROR_SUBSYSTEM_OPTFLOW             4   // not used
-#define ERROR_SUBSYSTEM_FAILSAFE_RADIO      5
-#define ERROR_SUBSYSTEM_FAILSAFE_BATT       6
-#define ERROR_SUBSYSTEM_FAILSAFE_GPS        7   // not used
-#define ERROR_SUBSYSTEM_FAILSAFE_GCS        8
-#define ERROR_SUBSYSTEM_FAILSAFE_FENCE      9
-#define ERROR_SUBSYSTEM_FLIGHT_MODE         10
-#define ERROR_SUBSYSTEM_GPS                 11
-#define ERROR_SUBSYSTEM_CRASH_CHECK         12
-#define ERROR_SUBSYSTEM_FLIP                13
-#define ERROR_SUBSYSTEM_AUTOTUNE            14  // not used
-#define ERROR_SUBSYSTEM_PARACHUTE           15
-#define ERROR_SUBSYSTEM_EKFCHECK            16
-#define ERROR_SUBSYSTEM_FAILSAFE_EKFINAV    17
-#define ERROR_SUBSYSTEM_BARO                18
-#define ERROR_SUBSYSTEM_CPU                 19
-#define ERROR_SUBSYSTEM_FAILSAFE_ADSB       20
-#define ERROR_SUBSYSTEM_TERRAIN             21
-#define ERROR_SUBSYSTEM_NAVIGATION          22
-#define ERROR_SUBSYSTEM_FAILSAFE_TERRAIN    23
-#define ERROR_SUBSYSTEM_EKF_PRIMARY         24
-#define ERROR_SUBSYSTEM_THRUST_LOSS_CHECK   25
-// general error codes
-#define ERROR_CODE_ERROR_RESOLVED           0
-#define ERROR_CODE_FAILED_TO_INITIALISE     1
-#define ERROR_CODE_UNHEALTHY                4
-// subsystem specific error codes -- radio
-#define ERROR_CODE_RADIO_LATE_FRAME         2
-// subsystem specific error codes -- failsafe_thr, batt, gps
-#define ERROR_CODE_FAILSAFE_RESOLVED        0
-#define ERROR_CODE_FAILSAFE_OCCURRED        1
-// subsystem specific error codes -- main
-#define ERROR_CODE_MAIN_INS_DELAY           1
-// subsystem specific error codes -- crash checker
-#define ERROR_CODE_CRASH_CHECK_CRASH        1
-#define ERROR_CODE_CRASH_CHECK_LOSS_OF_CONTROL 2
-// subsystem specific error codes -- flip
-#define ERROR_CODE_FLIP_ABANDONED           2
-// subsystem specific error codes -- terrain
-#define ERROR_CODE_MISSING_TERRAIN_DATA     2
-// subsystem specific error codes -- navigation
-#define ERROR_CODE_FAILED_TO_SET_DESTINATION    2
-#define ERROR_CODE_RESTARTED_RTL            3
-#define ERROR_CODE_FAILED_CIRCLE_INIT       4
-#define ERROR_CODE_DEST_OUTSIDE_FENCE       5
-
-// parachute failed to deploy because of low altitude or landed
-#define ERROR_CODE_PARACHUTE_TOO_LOW        2
-#define ERROR_CODE_PARACHUTE_LANDED         3
-// EKF check definitions
-#define ERROR_CODE_EKFCHECK_BAD_VARIANCE       2
-#define ERROR_CODE_EKFCHECK_VARIANCE_CLEARED   0
-// Baro specific error codes
-#define ERROR_CODE_BARO_GLITCH              2
-// GPS specific error coces
-#define ERROR_CODE_GPS_GLITCH               2
-
 // Radio failsafe definitions (FS_THR parameter)
 #define FS_THR_DISABLED                            0
 #define FS_THR_ENABLED_ALWAYS_RTL                  1

ArduCopter/ekf_check.cpp

@@ -55,7 +55,7 @@ void Copter::ekf_check()
                 ekf_check_state.fail_count = EKF_CHECK_ITERATIONS_MAX;
                 ekf_check_state.bad_variance = true;
                 // log an error in the dataflash
-                Log_Write_Error(ERROR_SUBSYSTEM_EKFCHECK, ERROR_CODE_EKFCHECK_BAD_VARIANCE);
+                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) {
                     gcs().send_text(MAV_SEVERITY_CRITICAL,"EKF variance");
@@ -73,7 +73,7 @@ void Copter::ekf_check()
             if (ekf_check_state.bad_variance && ekf_check_state.fail_count == 0) {
                 ekf_check_state.bad_variance = false;
                 // log recovery in the dataflash
-                Log_Write_Error(ERROR_SUBSYSTEM_EKFCHECK, ERROR_CODE_EKFCHECK_VARIANCE_CLEARED);
+                AP::logger().Write_Error(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_VARIANCE_CLEARED);
                 // clear failsafe
                 failsafe_ekf_off_event();
             }
@@ -136,7 +136,7 @@ void Copter::failsafe_ekf_event()
 
     // EKF failsafe event has occurred
     failsafe.ekf = true;
-    Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_EKFINAV, ERROR_CODE_FAILSAFE_OCCURRED);
+    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_OCCURRED);
 
     // sometimes LAND *does* require GPS so ensure we are in non-GPS land
     if (control_mode == LAND && landing_with_GPS()) {
@@ -175,7 +175,7 @@ void Copter::failsafe_ekf_off_event(void)
 
     // clear flag and log recovery
     failsafe.ekf = false;
-    Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_EKFINAV, ERROR_CODE_FAILSAFE_RESOLVED);
+    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_RESOLVED);
 }
 
 // check for ekf yaw reset and adjust target heading, also log position reset
@@ -195,7 +195,7 @@ void Copter::check_ekf_reset()
     if ((EKF2.getPrimaryCoreIndex() != ekf_primary_core) && (EKF2.getPrimaryCoreIndex() != -1)) {
         attitude_control->inertial_frame_reset();
         ekf_primary_core = EKF2.getPrimaryCoreIndex();
-        Log_Write_Error(ERROR_SUBSYSTEM_EKF_PRIMARY, ekf_primary_core);
+        AP::logger().Write_Error(LogErrorSubsystem::EKF_PRIMARY, LogErrorCode(ekf_primary_core));
         gcs().send_text(MAV_SEVERITY_WARNING, "EKF primary changed:%d", (unsigned)ekf_primary_core);
     }
 #endif

ArduCopter/events.cpp

@@ -36,7 +36,7 @@ void Copter::failsafe_radio_on_event()
     }
 
     // log the error to the dataflash
-    Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_RADIO, ERROR_CODE_FAILSAFE_OCCURRED);
+    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_RADIO, LogErrorCode::FAILSAFE_OCCURRED);
 
 }
 
@@ -47,12 +47,12 @@ void Copter::failsafe_radio_off_event()
 {
     // no need to do anything except log the error as resolved
     // user can now override roll, pitch, yaw and throttle and even use flight mode switch to restore previous flight mode
-    Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_RADIO, ERROR_CODE_FAILSAFE_RESOLVED);
+    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_RADIO, LogErrorCode::FAILSAFE_RESOLVED);
 }
 
 void Copter::handle_battery_failsafe(const char *type_str, const int8_t action)
 {
-    Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_BATT, ERROR_CODE_FAILSAFE_OCCURRED);
+    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_BATT, LogErrorCode::FAILSAFE_OCCURRED);
 
     // failsafe check
     if (should_disarm_on_failsafe()) {
@@ -118,7 +118,7 @@ void Copter::failsafe_gcs_check()
     // GCS failsafe event has occurred
     // update state, log to dataflash
     set_failsafe_gcs(true);
-    Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_GCS, ERROR_CODE_FAILSAFE_OCCURRED);
+    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_GCS, LogErrorCode::FAILSAFE_OCCURRED);
 
     // clear overrides so that RC control can be regained with radio.
     RC_Channels::clear_overrides();
@@ -142,7 +142,7 @@ void Copter::failsafe_gcs_check()
 void Copter::failsafe_gcs_off_event(void)
 {
     // log recovery of GCS in logs?
-    Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_GCS, ERROR_CODE_FAILSAFE_RESOLVED);
+    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_GCS, LogErrorCode::FAILSAFE_RESOLVED);
 }
 
 // executes terrain failsafe if data is missing for longer than a few seconds
@@ -159,7 +159,7 @@ void Copter::failsafe_terrain_check()
         if (trigger_event) {
             failsafe_terrain_on_event();
         } else {
-            Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_TERRAIN, ERROR_CODE_ERROR_RESOLVED);
+            AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_TERRAIN, LogErrorCode::ERROR_RESOLVED);
             failsafe.terrain = false;
         }
     }
@@ -190,7 +190,7 @@ void Copter::failsafe_terrain_on_event()
 {
     failsafe.terrain = true;
     gcs().send_text(MAV_SEVERITY_CRITICAL,"Failsafe: Terrain data missing");
-    Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_TERRAIN, ERROR_CODE_FAILSAFE_OCCURRED);
+    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_TERRAIN, LogErrorCode::FAILSAFE_OCCURRED);
 
     if (should_disarm_on_failsafe()) {
         init_disarm_motors();
@@ -214,10 +214,10 @@ void Copter::gpsglitch_check()
     if (ap.gps_glitching != gps_glitching) {
         ap.gps_glitching = gps_glitching;
         if (gps_glitching) {
-            Log_Write_Error(ERROR_SUBSYSTEM_GPS, ERROR_CODE_GPS_GLITCH);
+            AP::logger().Write_Error(LogErrorSubsystem::GPS, LogErrorCode::GPS_GLITCH);
             gcs().send_text(MAV_SEVERITY_CRITICAL,"GPS Glitch");
         } else {
-            Log_Write_Error(ERROR_SUBSYSTEM_GPS, ERROR_CODE_ERROR_RESOLVED);
+            AP::logger().Write_Error(LogErrorSubsystem::GPS, LogErrorCode::ERROR_RESOLVED);
             gcs().send_text(MAV_SEVERITY_CRITICAL,"GPS Glitch cleared");
         }
     }

ArduCopter/failsafe.cpp

@@ -43,7 +43,7 @@ void Copter::failsafe_check()
         failsafe_last_timestamp = tnow;
         if (in_failsafe) {
             in_failsafe = false;
-            Log_Write_Error(ERROR_SUBSYSTEM_CPU,ERROR_CODE_FAILSAFE_RESOLVED);
+            AP::logger().Write_Error(LogErrorSubsystem::CPU, LogErrorCode::FAILSAFE_RESOLVED);
         }
         return;
     }
@@ -58,7 +58,7 @@ void Copter::failsafe_check()
             motors->output_min();
         }
         // log an error
-        Log_Write_Error(ERROR_SUBSYSTEM_CPU,ERROR_CODE_FAILSAFE_OCCURRED);
+        AP::logger().Write_Error(LogErrorSubsystem::CPU, LogErrorCode::FAILSAFE_OCCURRED);
     }
 
     if (failsafe_enabled && in_failsafe && tnow - failsafe_last_timestamp > 1000000) {

ArduCopter/fence.cpp

@@ -70,11 +70,11 @@ void Copter::fence_check()
         }
 
         // log an error in the dataflash
-        Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_FENCE, new_breaches);
+        AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode(new_breaches));
 
     } else if (orig_breaches) {
         // record clearing of breach
-        Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_FENCE, ERROR_CODE_ERROR_RESOLVED);
+        AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode::ERROR_RESOLVED);
     }
 }
 

ArduCopter/mode.cpp

@@ -184,7 +184,7 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
     Copter::Mode *new_flightmode = mode_from_mode_num(mode);
     if (new_flightmode == nullptr) {
         gcs().send_text(MAV_SEVERITY_WARNING,"No such mode");
-        Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode);
+        AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode));
         return false;
     }
 
@@ -195,7 +195,7 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
     // rotor runup is not complete
     if (!ignore_checks && !new_flightmode->has_manual_throttle() && !motors->rotor_runup_complete()){
         gcs().send_text(MAV_SEVERITY_WARNING,"Flight mode change failed");
-        Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode);
+        AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode));
         return false;
     }
 #endif
@@ -220,13 +220,13 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
         new_flightmode->requires_GPS() &&
         !copter.position_ok()) {
         gcs().send_text(MAV_SEVERITY_WARNING, "Mode change failed: %s requires position", new_flightmode->name());
-        Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode);
+        AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode));
         return false;
     }
 
     if (!new_flightmode->init(ignore_checks)) {
         gcs().send_text(MAV_SEVERITY_WARNING,"Flight mode change failed");
-        Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode);
+        AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode));
         return false;
     }
 

ArduCopter/mode_auto.cpp

@@ -151,7 +151,7 @@ void Copter::ModeAuto::takeoff_start(const Location& dest_loc)
     int32_t alt_target;
     if (!dest.get_alt_cm(Location::AltFrame::ABOVE_HOME, alt_target)) {
         // this failure could only happen if take-off alt was specified as an alt-above terrain and we have no terrain data
-        copter.Log_Write_Error(ERROR_SUBSYSTEM_TERRAIN, ERROR_CODE_MISSING_TERRAIN_DATA);
+        AP::logger().Write_Error(LogErrorSubsystem::TERRAIN, LogErrorCode::MISSING_TERRAIN_DATA);
         // fall back to altitude above current altitude
         alt_target = copter.current_loc.alt + dest.alt;
     }
@@ -254,7 +254,7 @@ void Copter::ModeAuto::circle_movetoedge_start(const Location &circle_center, fl
     if (!circle_center.get_vector_from_origin_NEU(circle_center_neu)) {
         // default to current position and log error
         circle_center_neu = inertial_nav.get_position();
-        copter.Log_Write_Error(ERROR_SUBSYSTEM_NAVIGATION, ERROR_CODE_FAILED_CIRCLE_INIT);
+        AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::FAILED_CIRCLE_INIT);
     }
     copter.circle_nav->set_center(circle_center_neu);
 

ArduCopter/mode_flip.cpp

@@ -205,7 +205,7 @@ void Copter::ModeFlip::run()
             copter.set_mode(STABILIZE, MODE_REASON_UNKNOWN);
         }
         // log abandoning flip
-        copter.Log_Write_Error(ERROR_SUBSYSTEM_FLIP,ERROR_CODE_FLIP_ABANDONED);
+        AP::logger().Write_Error(LogErrorSubsystem::FLIP, LogErrorCode::FLIP_ABANDONED);
         break;
     }
 

ArduCopter/mode_guided.cpp

@@ -57,7 +57,7 @@ bool Copter::ModeGuided::do_user_takeoff_start(float final_alt_above_home)
 
     if (!wp_nav->set_wp_destination(target_loc)) {
         // failure to set destination can only be because of missing terrain data
-        copter.Log_Write_Error(ERROR_SUBSYSTEM_NAVIGATION, ERROR_CODE_FAILED_TO_SET_DESTINATION);
+        AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::FAILED_TO_SET_DESTINATION);
         // failure is propagated to GCS with NAK
         return false;
     }
@@ -187,7 +187,7 @@ bool Copter::ModeGuided::set_destination(const Vector3f& destination, bool use_y
     // reject destination if outside the fence
     const Location dest_loc(destination);
     if (!copter.fence.check_destination_within_fence(dest_loc)) {
-        copter.Log_Write_Error(ERROR_SUBSYSTEM_NAVIGATION, ERROR_CODE_DEST_OUTSIDE_FENCE);
+        AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
         // failure is propagated to GCS with NAK
         return false;
     }
@@ -226,7 +226,7 @@ bool Copter::ModeGuided::set_destination(const Location& dest_loc, bool use_yaw,
     // reject destination outside the fence.
     // Note: there is a danger that a target specified as a terrain altitude might not be checked if the conversion to alt-above-home fails
     if (!copter.fence.check_destination_within_fence(dest_loc)) {
-        copter.Log_Write_Error(ERROR_SUBSYSTEM_NAVIGATION, ERROR_CODE_DEST_OUTSIDE_FENCE);
+        AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
         // failure is propagated to GCS with NAK
         return false;
     }
@@ -234,7 +234,7 @@ bool Copter::ModeGuided::set_destination(const Location& dest_loc, bool use_yaw,
 
     if (!wp_nav->set_wp_destination(dest_loc)) {
         // failure to set destination can only be because of missing terrain data
-        copter.Log_Write_Error(ERROR_SUBSYSTEM_NAVIGATION, ERROR_CODE_FAILED_TO_SET_DESTINATION);
+        AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::FAILED_TO_SET_DESTINATION);
         // failure is propagated to GCS with NAK
         return false;
     }
@@ -280,7 +280,7 @@ bool Copter::ModeGuided::set_destination_posvel(const Vector3f& destination, con
     // reject destination if outside the fence
     const Location dest_loc(destination);
     if (!copter.fence.check_destination_within_fence(dest_loc)) {
-        copter.Log_Write_Error(ERROR_SUBSYSTEM_NAVIGATION, ERROR_CODE_DEST_OUTSIDE_FENCE);
+        AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
         // failure is propagated to GCS with NAK
         return false;
     }

ArduCopter/mode_rtl.cpp

@@ -23,7 +23,7 @@ bool Copter::ModeRTL::init(bool ignore_checks)
 void Copter::ModeRTL::restart_without_terrain()
 {
     // log an error
-    copter.Log_Write_Error(ERROR_SUBSYSTEM_NAVIGATION, ERROR_CODE_RESTARTED_RTL);
+    AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::RESTARTED_RTL);
     if (rtl_path.terrain_used) {
         build_path(false);
         climb_start();
@@ -99,7 +99,7 @@ void Copter::ModeRTL::climb_start()
     // set the destination
     if (!wp_nav->set_wp_destination(rtl_path.climb_target)) {
         // this should not happen because rtl_build_path will have checked terrain data was available
-        copter.Log_Write_Error(ERROR_SUBSYSTEM_NAVIGATION, ERROR_CODE_FAILED_TO_SET_DESTINATION);
+        AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::FAILED_TO_SET_DESTINATION);
         copter.set_mode(LAND, MODE_REASON_TERRAIN_FAILSAFE);
         return;
     }
@@ -432,7 +432,7 @@ void Copter::ModeRTL::compute_return_target(bool terrain_following_allowed)
             !rtl_path.return_target.get_alt_cm(Location::AltFrame::ABOVE_TERRAIN, return_target_terr_alt) ||
             !copter.current_loc.get_alt_cm(Location::AltFrame::ABOVE_TERRAIN, curr_alt)) {
             rtl_path.terrain_used = false;
-            copter.Log_Write_Error(ERROR_SUBSYSTEM_TERRAIN, ERROR_CODE_MISSING_TERRAIN_DATA);
+            AP::logger().Write_Error(LogErrorSubsystem::TERRAIN, LogErrorCode::MISSING_TERRAIN_DATA);
         }
     }
 

ArduCopter/radio.cpp

@@ -136,7 +136,7 @@ void Copter::read_radio()
     }
 
     // Nobody ever talks to us.  Log an error and enter failsafe.
-    Log_Write_Error(ERROR_SUBSYSTEM_RADIO, ERROR_CODE_RADIO_LATE_FRAME);
+    AP::logger().Write_Error(LogErrorSubsystem::RADIO, LogErrorCode::RADIO_LATE_FRAME);
     set_failsafe_radio(true);
 }
 

ArduCopter/sensors.cpp

@@ -96,7 +96,7 @@ void Copter::init_compass()
     if (!compass.read()) {
         // make sure we don't pass a broken compass to DCM
         hal.console->printf("COMPASS INIT ERROR\n");
-        Log_Write_Error(ERROR_SUBSYSTEM_COMPASS,ERROR_CODE_FAILED_TO_INITIALISE);
+        AP::logger().Write_Error(LogErrorSubsystem::COMPASS, LogErrorCode::FAILED_TO_INITIALISE);
         return;
     }
     ahrs.set_compass(&compass);