Stop mavlink based logging only in ULOG mode

ecmnet · Jan 31, 2022 · 9dcdf49 · 9dcdf49
1 parent c3f20aa
commit 9dcdf49
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Showing 2 changed files with 9 additions and 2 deletions.
diff --git a/MAVGCL/src/main/java/com/comino/flight/MainApp.java b/MAVGCL/src/main/java/com/comino/flight/MainApp.java
@@ -177,6 +177,7 @@ public class MainApp extends Application  {
 
 	private final WorkQueue wq = WorkQueue.getInstance();
 
+	private AnalysisModelService analysisModelService;
 	private SimpleNTPServer ntp_server;
 
 	public MainApp() {
@@ -314,7 +315,7 @@ else if(args.get("ip")!=null)
 			MAVGCLMap.getInstance(control);
 			MAVGCLPX4Parameters.getInstance(control);
 
-			AnalysisModelService analysisModelService = AnalysisModelService.getInstance(control);
+			analysisModelService = AnalysisModelService.getInstance(control);
 			analysisModelService.startConverter();
 
 			state.getConnectedProperty().addListener((e,o,n) -> {
@@ -437,7 +438,7 @@ public void start(Stage primaryStage) {
 	@Override
 	public void stop() throws Exception {
 		System.out.println("[mgc] Closing...");
-		control.sendMAVLinkCmd(MAV_CMD.MAV_CMD_LOGGING_STOP);
+		analysisModelService.close();
 		control.shutdown();
 		MAVPreferences.getInstance().putDouble("stage.x", primaryStage.getX());
 		MAVPreferences.getInstance().putDouble("stage.y", primaryStage.getY());

diff --git a/MAVGCL/src/main/java/com/comino/flight/model/service/AnalysisModelService.java b/MAVGCL/src/main/java/com/comino/flight/model/service/AnalysisModelService.java
@@ -188,6 +188,12 @@ public void startConverter() {
 		c.setPriority(Thread.NORM_PRIORITY+2);
 		c.start();
 	}
+
+	public void close() {
+		stop();
+		if(ulogger.isLogging())
+			control.sendMAVLinkCmd(MAV_CMD.MAV_CMD_LOGGING_STOP);
+	}
 
 	public void registerListener(ICollectorRecordingListener l) {
 		listener.add(l);