Blimp: move logging of compass ERR flags into AP_Compass

tridge · May 10, 2022 · b33fda7 · b33fda7
1 parent 8a9a856
commit b33fda7
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Showing 3 changed files with 0 additions and 25 deletions.
diff --git a/Blimp/Blimp.cpp b/Blimp/Blimp.cpp
@@ -63,8 +63,6 @@ const AP_Scheduler::Task Blimp::scheduler_tasks[] = {
     FAST_TASK(update_flight_mode),
     // update home from EKF if necessary
     FAST_TASK(update_home_from_EKF),
-    // log sensor health
-    FAST_TASK(Log_Sensor_Health),
 
     SCHED_TASK(rc_loop,              100,    130,   3),
     SCHED_TASK(throttle_loop,         50,     75,   6),
@@ -277,8 +275,6 @@ Blimp::Blimp(void)
       param_loader(var_info),
       flightmode(&mode_manual)
 {
-    // init sensor error logging flags
-    sensor_health.compass = true;
 }
 
 Blimp blimp;

diff --git a/Blimp/Blimp.h b/Blimp/Blimp.h
@@ -187,11 +187,6 @@ class Blimp : public AP_Vehicle
         return failsafe.radio || battery.has_failsafed() || failsafe.gcs || failsafe.ekf;
     }
 
-    // sensor health for logging
-    struct {
-        uint8_t compass     : 1;    // true if compass is healthy
-    } sensor_health;
-
     // Motor Output
     Fins *motors;
 
@@ -362,7 +357,6 @@ class Blimp : public AP_Vehicle
     void Log_Write_Data(LogDataID id, uint16_t value);
     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_Sensor_Health();
     void Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target);
     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);
     void Log_Write_SysID_Data(float waveform_time, float waveform_sample, float waveform_freq, float angle_x, float angle_y, float angle_z, float accel_x, float accel_y, float accel_z);

diff --git a/Blimp/Log.cpp b/Blimp/Log.cpp
@@ -232,20 +232,6 @@ tuning_max     : tune_max
     logger.WriteBlock(&pkt_tune, sizeof(pkt_tune));
 }
 
-// logs when compass becomes unhealthy
-void Blimp::Log_Sensor_Health()
-{
-    if (!should_log(MASK_LOG_ANY)) {
-        return;
-    }
-
-    // check compass
-    if (sensor_health.compass != compass.healthy()) {
-        sensor_health.compass = compass.healthy();
-        AP::logger().Write_Error(LogErrorSubsystem::COMPASS, (sensor_health.compass ? LogErrorCode::ERROR_RESOLVED : LogErrorCode::UNHEALTHY));
-    }
-}
-
 struct PACKED log_SysIdD {
     LOG_PACKET_HEADER;
     uint64_t time_us;
@@ -518,7 +504,6 @@ void Blimp::Log_Write_Data(LogDataID id, int16_t value) {}
 void Blimp::Log_Write_Data(LogDataID id, uint16_t value) {}
 void Blimp::Log_Write_Data(LogDataID id, float value) {}
 void Blimp::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max) {}
-void Blimp::Log_Sensor_Health() {}
 void Blimp::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
 void Blimp::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) {}
 void Blimp::Log_Write_SysID_Data(float waveform_time, float waveform_sample, float waveform_freq, float angle_x, float angle_y, float angle_z, float accel_x, float accel_y, float accel_z) {}