Privatize AP_Baro logging

libraries/AP_Baro/AP_Baro.cpp

@@ -895,7 +895,7 @@ void AP_Baro::update(void)
     // logging
 #ifndef HAL_NO_LOGGING
     if (should_log()) {
-        AP::logger().Write_Baro();
+        Write_Baro();
     }
 #endif
 }

libraries/AP_Baro/AP_Baro.h

@@ -311,6 +311,10 @@ class AP_Baro
     */
     float wind_pressure_correction(uint8_t instance);
 #endif
+
+    // Logging function
+    void Write_Baro(void);
+    void Write_Baro_instance(uint64_t time_us, uint8_t baro_instance);
 
 };
 

libraries/AP_Baro/AP_Baro_Logging.cpp

@@ -0,0 +1,30 @@
+#include "AP_Baro.h"
+#include <AP_Logger/AP_Logger.h>
+
+void AP_Baro::Write_Baro_instance(uint64_t time_us, uint8_t baro_instance)
+{
+    const struct log_BARO pkt{
+        LOG_PACKET_HEADER_INIT(LOG_BARO_MSG),
+        time_us       : time_us,
+        instance      : baro_instance,
+        altitude      : get_altitude(baro_instance),
+        pressure      : get_pressure(baro_instance),
+        temperature   : (int16_t)(get_temperature(baro_instance) * 100 + 0.5f),
+        climbrate     : get_climb_rate(),
+        sample_time_ms: get_last_update(baro_instance),
+        drift_offset  : get_baro_drift_offset(),
+        ground_temp   : get_ground_temperature(),
+        healthy       : (uint8_t)healthy(baro_instance)
+    };
+    AP::logger().WriteBlock(&pkt, sizeof(pkt));
+}
+
+// Write a BARO packet
+void AP_Baro::Write_Baro(void)
+{
+    const uint64_t time_us = AP_HAL::micros64();
+
+    for (uint8_t i=0; i< _num_sensors; i++) {
+        Write_Baro_instance(time_us, i);
+    }
+}

libraries/AP_Baro/LogStructure.h

@@ -0,0 +1,36 @@
+#pragma once
+
+#include <AP_Logger/LogStructure.h>
+
+#define LOG_IDS_FROM_BARO \
+    LOG_BARO_MSG
+
+// @LoggerMessage: BARO
+// @Description: Gathered Barometer data
+// @Field: TimeUS: Time since system startup
+// @Field: I: barometer sensor instance number
+// @Field: Alt: calculated altitude
+// @Field: Press: measured atmospheric pressure
+// @Field: Temp: measured atmospheric temperature
+// @Field: CRt: derived climb rate from primary barometer
+// @Field: SMS: time last sample was taken
+// @Field: Offset: raw adjustment of barometer altitude, zeroed on calibration, possibly set by GCS
+// @Field: GndTemp: temperature on ground, specified by parameter or measured while on ground
+// @Field: Health: true if barometer is considered healthy
+struct PACKED log_BARO {
+    LOG_PACKET_HEADER;
+    uint64_t time_us;
+    uint8_t instance;
+    float   altitude;
+    float   pressure;
+    int16_t temperature;
+    float   climbrate;
+    uint32_t sample_time_ms;
+    float   drift_offset;
+    float   ground_temp;
+    uint8_t healthy;
+};
+
+#define LOG_STRUCTURE_FROM_BARO \
+    { LOG_BARO_MSG, sizeof(log_BARO), \
+      "BARO",  "QBffcfIffB", "TimeUS,I,Alt,Press,Temp,CRt,SMS,Offset,GndTemp,Health", "s#mPOnsmO-", "F-00B0C?0-" },

libraries/AP_Logger/AP_Logger.h

@@ -309,7 +309,6 @@ class AP_Logger
     void Write_RCOUT(void);
     void Write_RSSI();
     void Write_Rally();
-    void Write_Baro();
     void Write_Power(void);
     void Write_Radio(const mavlink_radio_t &packet);
     void Write_Message(const char *message);
@@ -511,7 +510,6 @@ class AP_Logger
     // state to help us not log unneccesary RCIN values:
     bool seen_nonzero_rcin15_or_rcin16;
 
-    void Write_Baro_instance(uint64_t time_us, uint8_t baro_instance);
     void Write_IMU_instance(uint64_t time_us, uint8_t imu_instance);
     void Write_Compass_instance(uint64_t time_us, uint8_t mag_instance);
 

libraries/AP_Logger/LogFile.cpp

@@ -1,7 +1,6 @@
 #include <stdlib.h>
 
 #include <AP_AHRS/AP_AHRS.h>
-#include <AP_Baro/AP_Baro.h>
 #include <AP_Compass/AP_Compass.h>
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Math/AP_Math.h>
@@ -261,38 +260,6 @@ void AP_Logger::Write_RSSI()
     WriteBlock(&pkt, sizeof(pkt));
 }
 
-void AP_Logger::Write_Baro_instance(uint64_t time_us, uint8_t baro_instance)
-{
-    AP_Baro &baro = AP::baro();
-    float climbrate = baro.get_climb_rate();
-    float drift_offset = baro.get_baro_drift_offset();
-    float ground_temp = baro.get_ground_temperature();
-    const struct log_BARO pkt{
-        LOG_PACKET_HEADER_INIT(LOG_BARO_MSG),
-        time_us       : time_us,
-        instance      : baro_instance,
-        altitude      : baro.get_altitude(baro_instance),
-        pressure      : baro.get_pressure(baro_instance),
-        temperature   : (int16_t)(baro.get_temperature(baro_instance) * 100 + 0.5f),
-        climbrate     : climbrate,
-        sample_time_ms: baro.get_last_update(baro_instance),
-        drift_offset  : drift_offset,
-        ground_temp   : ground_temp,
-        healthy       : (uint8_t)baro.healthy(baro_instance)
-    };
-    WriteBlock(&pkt, sizeof(pkt));
-}
-
-// Write a BARO packet
-void AP_Logger::Write_Baro()
-{
-    const uint64_t time_us = AP_HAL::micros64();
-    const AP_Baro &baro = AP::baro();
-    for (uint8_t i=0; i< baro.num_instances(); i++) {
-        Write_Baro_instance(time_us, i);
-    }
-}
-
 void AP_Logger::Write_IMU_instance(const uint64_t time_us, const uint8_t imu_instance)
 {
     const AP_InertialSensor &ins = AP::ins();

libraries/AP_Logger/LogStructure.h

@@ -121,9 +121,9 @@ const struct MultiplierStructure log_Multipliers[] = {
 #include <AP_NavEKF2/LogStructure.h>
 #include <AP_NavEKF3/LogStructure.h>
 #include <AP_BattMonitor/LogStructure.h>
-
 #include <AP_AHRS/LogStructure.h>
 #include <AP_Camera/LogStructure.h>
+#include <AP_Baro/LogStructure.h>
 
 // structure used to define logging format
 struct LogStructure {
@@ -354,20 +354,6 @@ struct PACKED log_RSSI {
     float RXRSSI;
 };
 
-struct PACKED log_BARO {
-    LOG_PACKET_HEADER;
-    uint64_t time_us;
-    uint8_t instance;
-    float   altitude;
-    float   pressure;
-    int16_t temperature;
-    float   climbrate;
-    uint32_t sample_time_ms;
-    float   drift_offset;
-    float   ground_temp;
-    uint8_t healthy;
-};
-
 struct PACKED log_Optflow {
     LOG_PACKET_HEADER;
     uint64_t time_us;
@@ -1018,19 +1004,6 @@ struct PACKED log_PSC {
 // @Field: Hfp: Probability sensor has failed
 // @Field: Pri: True if sensor is the primary sensor
 
-// @LoggerMessage: BARO
-// @Description: Gathered Barometer data
-// @Field: TimeUS: Time since system startup
-// @Field: I: barometer sensor instance number
-// @Field: Alt: calculated altitude
-// @Field: Press: measured atmospheric pressure
-// @Field: Temp: measured atmospheric temperature
-// @Field: CRt: derived climb rate from primary barometer
-// @Field: SMS: time last sample was taken
-// @Field: Offset: raw adjustment of barometer altitude, zeroed on calibration, possibly set by GCS
-// @Field: GndTemp: temperature on ground, specified by parameter or measured while on ground
-// @Field: Health: true if barometer is considered healthy
-
 // @LoggerMessage: BCN
 // @Description: Beacon informtaion
 // @Field: TimeUS: Time since system startup
@@ -1710,8 +1683,7 @@ struct PACKED log_PSC {
       "RCOU",  "QHHHHHHHHHHHHHH",     "TimeUS,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14", "sYYYYYYYYYYYYYY", "F--------------"  }, \
     { LOG_RSSI_MSG, sizeof(log_RSSI), \
       "RSSI",  "Qf",     "TimeUS,RXRSSI", "s-", "F-"  }, \
-    { LOG_BARO_MSG, sizeof(log_BARO), \
-      "BARO",  "QBffcfIffB", "TimeUS,I,Alt,Press,Temp,CRt,SMS,Offset,GndTemp,Health", "s#mPOnsmO-", "F-00B0C?0-" }, \
+LOG_STRUCTURE_FROM_BARO \
     { LOG_POWR_MSG, sizeof(log_POWR), \
       "POWR","QffHHB","TimeUS,Vcc,VServo,Flags,AccFlags,Safety", "svv---", "F00---" },  \
     { LOG_CMD_MSG, sizeof(log_Cmd), \
@@ -1866,7 +1838,7 @@ enum LogMessages : uint8_t {
     LOG_RCIN2_MSG,
     LOG_RCOUT_MSG,
     LOG_RSSI_MSG,
-    LOG_BARO_MSG,
+    LOG_IDS_FROM_BARO,
     LOG_POWR_MSG,
     LOG_IDS_FROM_AHRS,
     LOG_SIMSTATE_MSG,