/** trigger sending of log messages if there are some pending */ void DataFlash_Class::handle_log_send_listing(GCS_MAVLINK &link) { if (!HAVE_PAYLOAD_SPACE(link.get_chan(), LOG_ENTRY)) { // no space return; } if (AP_HAL::millis() - link.get_last_heartbeat_time() > 3000) { // give a heartbeat a chance return; } uint32_t size, time_utc; if (_log_next_list_entry == 0) { size = 0; time_utc = 0; } else { get_log_info(_log_next_list_entry, size, time_utc); } mavlink_msg_log_entry_send(link.get_chan(), _log_next_list_entry, _log_num_logs, _log_last_list_entry, time_utc, size); if (_log_next_list_entry == _log_last_list_entry) { _log_listing = false; _log_sending_chan = -1; } else { _log_next_list_entry++; } }
/** trigger sending of log data if there are some pending */ bool DataFlash_Class::handle_log_send_data(GCS_MAVLINK &link) { if (!HAVE_PAYLOAD_SPACE(link.get_chan(), LOG_DATA)) { // no space return false; } if (AP_HAL::millis() - link.get_last_heartbeat_time() > 3000) { // give a heartbeat a chance return false; } int16_t ret = 0; uint32_t len = _log_data_remaining; mavlink_log_data_t packet; if (len > 90) { len = 90; } ret = get_log_data(_log_num_data, _log_data_page, _log_data_offset, len, packet.data); if (ret < 0) { // report as EOF on error ret = 0; } if (ret < 90) { memset(&packet.data[ret], 0, 90-ret); } packet.ofs = _log_data_offset; packet.id = _log_num_data; packet.count = ret; _mav_finalize_message_chan_send(link.get_chan(), MAVLINK_MSG_ID_LOG_DATA, (const char *)&packet, MAVLINK_MSG_ID_LOG_DATA_MIN_LEN, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC); _log_data_offset += len; _log_data_remaining -= len; if (ret < 90 || _log_data_remaining == 0) { _log_sending = false; _log_sending_chan = -1; } return true; }