bool AP_InertialSensor::BatchSampler::should_log(uint8_t _instance, IMU_SENSOR_TYPE _type)
{
if (_sensor_mask == 0) {
return false;
}
if (!initialised) {
return false;
}
if (_instance != instance) {
return false;
}
if (_type != type) {
return false;
}
if (data_write_offset >= _required_count) {
return false;
}
AP_Logger *logger = AP_Logger::get_singleton();
if (logger == nullptr) {
return false;
}
#define MASK_LOG_ANY 0xFFFF
if (!logger->should_log(MASK_LOG_ANY)) {
return false;
}
return true;
}
// read - read the voltage and current for all instances
void
AP_BattMonitor::read()
{
for (uint8_t i=0; i<_num_instances; i++) {
if (drivers[i] != nullptr && _params[i].type() != AP_BattMonitor_Params::BattMonitor_TYPE_NONE) {
drivers[i]->read();
drivers[i]->update_resistance_estimate();
}
}
AP_Logger *df = AP_Logger::get_singleton();
if (df->should_log(_log_battery_bit)) {
df->Write_Current();
df->Write_Power();
}
check_failsafes();
checkPoweringOff();
}
void OpticalFlow::Log_Write_Optflow()
{
AP_Logger *instance = AP_Logger::instance();
if (instance == nullptr) {
return;
}
if (_log_bit != (uint32_t)-1 &&
!instance->should_log(_log_bit)) {
return;
}
struct log_Optflow pkt = {
LOG_PACKET_HEADER_INIT(LOG_OPTFLOW_MSG),
time_us : AP_HAL::micros64(),
surface_quality : _state.surface_quality,
flow_x : _state.flowRate.x,
flow_y : _state.flowRate.y,
body_x : _state.bodyRate.x,
body_y : _state.bodyRate.y
};
instance->WriteBlock(&pkt, sizeof(pkt));
}