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logger: send post-flight perf data when stopping mavlink log streaming

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- send out VEHICLE_CMD_RESULT_IN_PROGRESS
- delete the ulog object when receiving the ACK from logger, instead of
  the stop command
This commit is contained in:
Beat Küng
2021-08-12 10:09:11 -04:00
committed by Daniel Agar
parent 0f6bf6bc0e
commit e1ac6fe297
4 changed files with 21 additions and 13 deletions
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src/modules/mavlink/mavlink_main.cpp
+6 -2
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@@ -2381,6 +2381,7 @@ Mavlink::task_main(int argc, char *argv[])
/* send command ACK */
bool cmd_logging_start_acknowledgement = false;
bool cmd_logging_stop_acknowledgement = false;
if (_vehicle_command_ack_sub.updated()) {
static constexpr size_t COMMAND_ACK_TOTAL_LEN = MAVLINK_MSG_ID_COMMAND_ACK_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
@@ -2412,6 +2413,10 @@ Mavlink::task_main(int argc, char *argv[])
if (command_ack.command == vehicle_command_s::VEHICLE_CMD_LOGGING_START) {
cmd_logging_start_acknowledgement = true;
} else if (command_ack.command == vehicle_command_s::VEHICLE_CMD_LOGGING_STOP
&& command_ack.result == vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED) {
cmd_logging_stop_acknowledgement = true;
}
}
}
@@ -2453,10 +2458,9 @@ Mavlink::task_main(int argc, char *argv[])
/* check for ulog streaming messages */
if (_mavlink_ulog) {
if (_mavlink_ulog_stop_requested.load()) {
if (cmd_logging_stop_acknowledgement) {
_mavlink_ulog->stop();
_mavlink_ulog = nullptr;
_mavlink_ulog_stop_requested.store(false);
} else {
if (cmd_logging_start_acknowledgement) {