Copter: Move heli logging down into motors

ArduPilot · Aug 6, 2024 · 9c1ef09 · 9c1ef09
1 parent 3a628c8
commit 9c1ef09
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Showing 3 changed files with 1 addition and 41 deletions.
diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
@@ -608,7 +608,7 @@ void Copter::ten_hz_logging_loop()
 #endif
     }
 #if FRAME_CONFIG == HELI_FRAME
-    Log_Write_Heli();
+    motors->log_heli_motors();
 #endif
 #if AP_WINCH_ENABLED
     if (should_log(MASK_LOG_ANY)) {

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
@@ -882,9 +882,6 @@ class Copter : public AP_Vehicle {
     void Log_Write_Data(LogDataID id, float value);
     void Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max);
     void Log_Video_Stabilisation();
-#if FRAME_CONFIG == HELI_FRAME
-    void Log_Write_Heli(void);
-#endif
     void Log_Write_Guided_Position_Target(ModeGuided::SubMode submode, const Vector3f& pos_target, bool terrain_alt, const Vector3f& vel_target, const Vector3f& accel_target);
     void Log_Write_Guided_Attitude_Target(ModeGuided::SubMode target_type, float roll, float pitch, float yaw, const Vector3f &ang_vel, float thrust, float climb_rate);
     void Log_Write_SysID_Setup(uint8_t systemID_axis, float waveform_magnitude, float frequency_start, float frequency_stop, float time_fade_in, float time_const_freq, float time_record, float time_fade_out);

diff --git a/ArduCopter/Log.cpp b/ArduCopter/Log.cpp
@@ -309,31 +309,6 @@ void Copter::Log_Write_SysID_Setup(uint8_t systemID_axis, float waveform_magnitu
 #endif
 }
 
-#if FRAME_CONFIG == HELI_FRAME
-struct PACKED log_Heli {
-    LOG_PACKET_HEADER;
-    uint64_t time_us;
-    float    desired_rotor_speed;
-    float    main_rotor_speed;
-    float    governor_output;
-    float    control_output;
-};
-
-// Write an helicopter packet
-void Copter::Log_Write_Heli()
-{
-    struct log_Heli pkt_heli = {
-        LOG_PACKET_HEADER_INIT(LOG_HELI_MSG),
-        time_us                 : AP_HAL::micros64(),
-        desired_rotor_speed     : motors->get_desired_rotor_speed(),
-        main_rotor_speed        : motors->get_main_rotor_speed(),
-        governor_output         : motors->get_governor_output(),
-        control_output          : motors->get_control_output(),
-    };
-    logger.WriteBlock(&pkt_heli, sizeof(pkt_heli));
-}
-#endif
-
 // guided position target logging
 struct PACKED log_Guided_Position_Target {
     LOG_PACKET_HEADER;
@@ -489,18 +464,6 @@ 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--" },
-
-// @LoggerMessage: HELI
-// @Description: Helicopter related messages 
-// @Field: TimeUS: Time since system startup
-// @Field: DRRPM: Desired rotor speed
-// @Field: ERRPM: Estimated rotor speed
-// @Field: Gov: Governor Output
-// @Field: Throt: Throttle output
-#if FRAME_CONFIG == HELI_FRAME
-    { LOG_HELI_MSG, sizeof(log_Heli),
-      "HELI",  "Qffff",        "TimeUS,DRRPM,ERRPM,Gov,Throt", "s----", "F----" , true },
-#endif
 
 // @LoggerMessage: SIDD
 // @Description: System ID data