2015-12-30 18:57:56 -04:00
|
|
|
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
|
2016-01-14 15:30:56 -04:00
|
|
|
#include "Sub.h"
|
2015-12-30 18:57:56 -04:00
|
|
|
|
|
|
|
#if LOGGING_ENABLED == ENABLED
|
|
|
|
|
|
|
|
// Code to Write and Read packets from DataFlash log memory
|
|
|
|
// Code to interact with the user to dump or erase logs
|
|
|
|
|
|
|
|
#if CLI_ENABLED == ENABLED
|
|
|
|
|
|
|
|
// Creates a constant array of structs representing menu options
|
|
|
|
// and stores them in Flash memory, not RAM.
|
|
|
|
// User enters the string in the console to call the functions on the right.
|
|
|
|
// See class Menu in AP_Coommon for implementation details
|
|
|
|
static const struct Menu::command log_menu_commands[] = {
|
|
|
|
{"dump", MENU_FUNC(dump_log)},
|
|
|
|
{"erase", MENU_FUNC(erase_logs)},
|
|
|
|
{"enable", MENU_FUNC(select_logs)},
|
|
|
|
{"disable", MENU_FUNC(select_logs)}
|
|
|
|
};
|
|
|
|
|
|
|
|
// A Macro to create the Menu
|
2016-01-14 15:30:56 -04:00
|
|
|
MENU2(log_menu, "Log", log_menu_commands, FUNCTOR_BIND(&sub, &Sub::print_log_menu, bool));
|
2015-12-30 18:57:56 -04:00
|
|
|
|
2016-01-14 15:30:56 -04:00
|
|
|
bool Sub::print_log_menu(void)
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
|
|
|
cliSerial->printf("logs enabled: ");
|
|
|
|
|
|
|
|
if (0 == g.log_bitmask) {
|
|
|
|
cliSerial->printf("none");
|
|
|
|
}else{
|
2016-02-03 18:56:39 -04:00
|
|
|
// Macro to make the following code a bit easier on the eye.
|
|
|
|
// Pass it the capitalised name of the log option, as defined
|
|
|
|
// in defines.h but without the LOG_ prefix. It will check for
|
|
|
|
// the bit being set and print the name of the log option to suit.
|
|
|
|
#define PLOG(_s) if (g.log_bitmask & MASK_LOG_ ## _s) cliSerial->printf(" %s", # _s)
|
|
|
|
PLOG(ATTITUDE_FAST);
|
|
|
|
PLOG(ATTITUDE_MED);
|
|
|
|
PLOG(GPS);
|
|
|
|
PLOG(PM);
|
|
|
|
PLOG(CTUN);
|
|
|
|
PLOG(NTUN);
|
|
|
|
PLOG(RCIN);
|
|
|
|
PLOG(IMU);
|
|
|
|
PLOG(CMD);
|
|
|
|
PLOG(CURRENT);
|
|
|
|
PLOG(RCOUT);
|
|
|
|
PLOG(OPTFLOW);
|
|
|
|
PLOG(COMPASS);
|
|
|
|
PLOG(CAMERA);
|
|
|
|
PLOG(PID);
|
|
|
|
#undef PLOG
|
2015-12-30 18:57:56 -04:00
|
|
|
}
|
|
|
|
|
|
|
|
cliSerial->println();
|
|
|
|
|
|
|
|
DataFlash.ListAvailableLogs(cliSerial);
|
|
|
|
|
|
|
|
return(true);
|
|
|
|
}
|
|
|
|
|
|
|
|
#if CLI_ENABLED == ENABLED
|
2016-01-14 15:30:56 -04:00
|
|
|
int8_t Sub::dump_log(uint8_t argc, const Menu::arg *argv)
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
|
|
|
int16_t dump_log_num;
|
|
|
|
uint16_t dump_log_start;
|
|
|
|
uint16_t dump_log_end;
|
|
|
|
|
|
|
|
// check that the requested log number can be read
|
|
|
|
dump_log_num = argv[1].i;
|
|
|
|
|
|
|
|
if (dump_log_num == -2) {
|
|
|
|
DataFlash.DumpPageInfo(cliSerial);
|
|
|
|
return(-1);
|
|
|
|
} else if (dump_log_num <= 0) {
|
|
|
|
cliSerial->printf("dumping all\n");
|
|
|
|
Log_Read(0, 1, 0);
|
|
|
|
return(-1);
|
|
|
|
} else if ((argc != 2) || ((uint16_t)dump_log_num > DataFlash.get_num_logs())) {
|
|
|
|
cliSerial->printf("bad log number\n");
|
|
|
|
return(-1);
|
|
|
|
}
|
|
|
|
|
|
|
|
DataFlash.get_log_boundaries(dump_log_num, dump_log_start, dump_log_end);
|
|
|
|
Log_Read((uint16_t)dump_log_num, dump_log_start, dump_log_end);
|
|
|
|
return (0);
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
|
2016-01-14 15:30:56 -04:00
|
|
|
int8_t Sub::erase_logs(uint8_t argc, const Menu::arg *argv)
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
|
|
|
in_mavlink_delay = true;
|
|
|
|
do_erase_logs();
|
|
|
|
in_mavlink_delay = false;
|
|
|
|
return 0;
|
|
|
|
}
|
|
|
|
|
2016-01-14 15:30:56 -04:00
|
|
|
int8_t Sub::select_logs(uint8_t argc, const Menu::arg *argv)
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
|
|
|
uint16_t bits;
|
|
|
|
|
|
|
|
if (argc != 2) {
|
|
|
|
cliSerial->printf("missing log type\n");
|
|
|
|
return(-1);
|
|
|
|
}
|
|
|
|
|
|
|
|
bits = 0;
|
|
|
|
|
|
|
|
// Macro to make the following code a bit easier on the eye.
|
|
|
|
// Pass it the capitalised name of the log option, as defined
|
|
|
|
// in defines.h but without the LOG_ prefix. It will check for
|
|
|
|
// that name as the argument to the command, and set the bit in
|
|
|
|
// bits accordingly.
|
|
|
|
//
|
|
|
|
if (!strcasecmp(argv[1].str, "all")) {
|
|
|
|
bits = ~0;
|
|
|
|
} else {
|
|
|
|
#define TARG(_s) if (!strcasecmp(argv[1].str, # _s)) bits |= MASK_LOG_ ## _s
|
|
|
|
TARG(ATTITUDE_FAST);
|
|
|
|
TARG(ATTITUDE_MED);
|
|
|
|
TARG(GPS);
|
|
|
|
TARG(PM);
|
|
|
|
TARG(CTUN);
|
|
|
|
TARG(NTUN);
|
|
|
|
TARG(RCIN);
|
|
|
|
TARG(IMU);
|
|
|
|
TARG(CMD);
|
|
|
|
TARG(CURRENT);
|
|
|
|
TARG(RCOUT);
|
|
|
|
TARG(OPTFLOW);
|
|
|
|
TARG(COMPASS);
|
|
|
|
TARG(CAMERA);
|
|
|
|
TARG(PID);
|
|
|
|
#undef TARG
|
|
|
|
}
|
|
|
|
|
|
|
|
if (!strcasecmp(argv[0].str, "enable")) {
|
|
|
|
g.log_bitmask.set_and_save(g.log_bitmask | bits);
|
|
|
|
}else{
|
|
|
|
g.log_bitmask.set_and_save(g.log_bitmask & ~bits);
|
|
|
|
}
|
|
|
|
|
|
|
|
return(0);
|
|
|
|
}
|
|
|
|
|
2016-01-14 15:30:56 -04:00
|
|
|
int8_t Sub::process_logs(uint8_t argc, const Menu::arg *argv)
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
|
|
|
log_menu.run();
|
|
|
|
return 0;
|
|
|
|
}
|
|
|
|
#endif // CLI_ENABLED
|
|
|
|
|
2016-01-14 15:30:56 -04:00
|
|
|
void Sub::do_erase_logs(void)
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
|
|
|
gcs_send_text(MAV_SEVERITY_INFO, "Erasing logs");
|
|
|
|
DataFlash.EraseAll();
|
|
|
|
gcs_send_text(MAV_SEVERITY_INFO, "Log erase complete");
|
|
|
|
}
|
|
|
|
|
|
|
|
#if AUTOTUNE_ENABLED == ENABLED
|
|
|
|
struct PACKED log_AutoTune {
|
|
|
|
LOG_PACKET_HEADER;
|
|
|
|
uint64_t time_us;
|
|
|
|
uint8_t axis; // roll or pitch
|
|
|
|
uint8_t tune_step; // tuning PI or D up or down
|
|
|
|
float meas_target; // target achieved rotation rate
|
|
|
|
float meas_min; // maximum achieved rotation rate
|
|
|
|
float meas_max; // maximum achieved rotation rate
|
|
|
|
float new_gain_rp; // newly calculated gain
|
|
|
|
float new_gain_rd; // newly calculated gain
|
|
|
|
float new_gain_sp; // newly calculated gain
|
|
|
|
float new_ddt; // newly calculated gain
|
|
|
|
};
|
|
|
|
|
|
|
|
// Write an Autotune data packet
|
2016-01-14 15:30:56 -04:00
|
|
|
void Sub::Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float meas_target, float meas_min, float meas_max, float new_gain_rp, float new_gain_rd, float new_gain_sp, float new_ddt)
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
|
|
|
struct log_AutoTune pkt = {
|
|
|
|
LOG_PACKET_HEADER_INIT(LOG_AUTOTUNE_MSG),
|
|
|
|
time_us : AP_HAL::micros64(),
|
|
|
|
axis : axis,
|
|
|
|
tune_step : tune_step,
|
|
|
|
meas_target : meas_target,
|
|
|
|
meas_min : meas_min,
|
|
|
|
meas_max : meas_max,
|
|
|
|
new_gain_rp : new_gain_rp,
|
|
|
|
new_gain_rd : new_gain_rd,
|
|
|
|
new_gain_sp : new_gain_sp,
|
|
|
|
new_ddt : new_ddt
|
|
|
|
};
|
|
|
|
DataFlash.WriteBlock(&pkt, sizeof(pkt));
|
|
|
|
}
|
|
|
|
|
|
|
|
struct PACKED log_AutoTuneDetails {
|
|
|
|
LOG_PACKET_HEADER;
|
|
|
|
uint64_t time_us;
|
|
|
|
float angle_cd; // lean angle in centi-degrees
|
|
|
|
float rate_cds; // current rotation rate in centi-degrees / second
|
|
|
|
};
|
|
|
|
|
|
|
|
// Write an Autotune data packet
|
2016-01-14 15:30:56 -04:00
|
|
|
void Sub::Log_Write_AutoTuneDetails(float angle_cd, float rate_cds)
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
|
|
|
struct log_AutoTuneDetails pkt = {
|
|
|
|
LOG_PACKET_HEADER_INIT(LOG_AUTOTUNEDETAILS_MSG),
|
|
|
|
time_us : AP_HAL::micros64(),
|
|
|
|
angle_cd : angle_cd,
|
|
|
|
rate_cds : rate_cds
|
|
|
|
};
|
|
|
|
DataFlash.WriteBlock(&pkt, sizeof(pkt));
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
|
|
|
|
// Write a Current data packet
|
2016-01-14 15:30:56 -04:00
|
|
|
void Sub::Log_Write_Current()
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
2016-06-08 01:49:10 -03:00
|
|
|
DataFlash.Log_Write_Current(battery);
|
2015-12-30 18:57:56 -04:00
|
|
|
|
|
|
|
// also write power status
|
|
|
|
DataFlash.Log_Write_Power();
|
|
|
|
}
|
|
|
|
|
|
|
|
struct PACKED log_Optflow {
|
|
|
|
LOG_PACKET_HEADER;
|
|
|
|
uint64_t time_us;
|
|
|
|
uint8_t surface_quality;
|
|
|
|
float flow_x;
|
|
|
|
float flow_y;
|
|
|
|
float body_x;
|
|
|
|
float body_y;
|
|
|
|
};
|
|
|
|
|
|
|
|
// Write an optical flow packet
|
2016-01-14 15:30:56 -04:00
|
|
|
void Sub::Log_Write_Optflow()
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
|
|
|
#if OPTFLOW == ENABLED
|
|
|
|
// exit immediately if not enabled
|
|
|
|
if (!optflow.enabled()) {
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
const Vector2f &flowRate = optflow.flowRate();
|
|
|
|
const Vector2f &bodyRate = optflow.bodyRate();
|
|
|
|
struct log_Optflow pkt = {
|
|
|
|
LOG_PACKET_HEADER_INIT(LOG_OPTFLOW_MSG),
|
|
|
|
time_us : AP_HAL::micros64(),
|
|
|
|
surface_quality : optflow.quality(),
|
|
|
|
flow_x : flowRate.x,
|
|
|
|
flow_y : flowRate.y,
|
|
|
|
body_x : bodyRate.x,
|
|
|
|
body_y : bodyRate.y
|
|
|
|
};
|
|
|
|
DataFlash.WriteBlock(&pkt, sizeof(pkt));
|
|
|
|
#endif // OPTFLOW == ENABLED
|
|
|
|
}
|
|
|
|
|
|
|
|
struct PACKED log_Nav_Tuning {
|
|
|
|
LOG_PACKET_HEADER;
|
|
|
|
uint64_t time_us;
|
|
|
|
float desired_pos_x;
|
|
|
|
float desired_pos_y;
|
|
|
|
float pos_x;
|
|
|
|
float pos_y;
|
|
|
|
float desired_vel_x;
|
|
|
|
float desired_vel_y;
|
|
|
|
float vel_x;
|
|
|
|
float vel_y;
|
|
|
|
float desired_accel_x;
|
|
|
|
float desired_accel_y;
|
|
|
|
};
|
|
|
|
|
|
|
|
// Write an Nav Tuning packet
|
2016-01-14 15:30:56 -04:00
|
|
|
void Sub::Log_Write_Nav_Tuning()
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
|
|
|
const Vector3f &pos_target = pos_control.get_pos_target();
|
|
|
|
const Vector3f &vel_target = pos_control.get_vel_target();
|
|
|
|
const Vector3f &accel_target = pos_control.get_accel_target();
|
|
|
|
const Vector3f &position = inertial_nav.get_position();
|
|
|
|
const Vector3f &velocity = inertial_nav.get_velocity();
|
|
|
|
|
|
|
|
struct log_Nav_Tuning pkt = {
|
|
|
|
LOG_PACKET_HEADER_INIT(LOG_NAV_TUNING_MSG),
|
|
|
|
time_us : AP_HAL::micros64(),
|
|
|
|
desired_pos_x : pos_target.x,
|
|
|
|
desired_pos_y : pos_target.y,
|
|
|
|
pos_x : position.x,
|
|
|
|
pos_y : position.y,
|
|
|
|
desired_vel_x : vel_target.x,
|
|
|
|
desired_vel_y : vel_target.y,
|
|
|
|
vel_x : velocity.x,
|
|
|
|
vel_y : velocity.y,
|
|
|
|
desired_accel_x : accel_target.x,
|
|
|
|
desired_accel_y : accel_target.y
|
|
|
|
};
|
|
|
|
DataFlash.WriteBlock(&pkt, sizeof(pkt));
|
|
|
|
}
|
|
|
|
|
|
|
|
struct PACKED log_Control_Tuning {
|
|
|
|
LOG_PACKET_HEADER;
|
|
|
|
uint64_t time_us;
|
2016-04-05 00:17:39 -03:00
|
|
|
float throttle_in;
|
|
|
|
float angle_boost;
|
2015-12-30 18:57:56 -04:00
|
|
|
float throttle_out;
|
2016-07-05 21:18:58 -03:00
|
|
|
float throttle_hover;
|
2015-12-30 18:57:56 -04:00
|
|
|
float desired_alt;
|
|
|
|
float inav_alt;
|
|
|
|
int32_t baro_alt;
|
2016-05-22 21:50:44 -03:00
|
|
|
int16_t desired_rangefinder_alt;
|
|
|
|
int16_t rangefinder_alt;
|
2016-05-03 01:45:37 -03:00
|
|
|
float terr_alt;
|
2016-07-05 21:18:58 -03:00
|
|
|
int16_t target_climb_rate;
|
2015-12-30 18:57:56 -04:00
|
|
|
int16_t climb_rate;
|
|
|
|
};
|
|
|
|
|
|
|
|
// Write a control tuning packet
|
2016-01-14 15:30:56 -04:00
|
|
|
void Sub::Log_Write_Control_Tuning()
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
2016-05-03 01:45:37 -03:00
|
|
|
// get terrain altitude
|
|
|
|
float terr_alt = 0.0f;
|
|
|
|
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
|
|
|
|
terrain.height_above_terrain(terr_alt, true);
|
|
|
|
#endif
|
|
|
|
|
2015-12-30 18:57:56 -04:00
|
|
|
struct log_Control_Tuning pkt = {
|
|
|
|
LOG_PACKET_HEADER_INIT(LOG_CONTROL_TUNING_MSG),
|
|
|
|
time_us : AP_HAL::micros64(),
|
2016-04-05 00:17:39 -03:00
|
|
|
throttle_in : attitude_control.get_throttle_in(),
|
2015-12-30 18:57:56 -04:00
|
|
|
angle_boost : attitude_control.angle_boost(),
|
|
|
|
throttle_out : motors.get_throttle(),
|
2016-07-05 21:18:58 -03:00
|
|
|
throttle_hover : motors.get_throttle_hover(),
|
2015-12-30 18:57:56 -04:00
|
|
|
desired_alt : pos_control.get_alt_target() / 100.0f,
|
|
|
|
inav_alt : inertial_nav.get_altitude() / 100.0f,
|
|
|
|
baro_alt : baro_alt,
|
2016-05-22 21:50:44 -03:00
|
|
|
desired_rangefinder_alt : (int16_t)target_rangefinder_alt,
|
|
|
|
rangefinder_alt : rangefinder_state.alt_cm,
|
2016-05-03 01:45:37 -03:00
|
|
|
terr_alt : terr_alt,
|
2016-07-05 21:18:58 -03:00
|
|
|
target_climb_rate : (int16_t)pos_control.get_vel_target_z(),
|
2015-12-30 18:57:56 -04:00
|
|
|
climb_rate : climb_rate
|
|
|
|
};
|
|
|
|
DataFlash.WriteBlock(&pkt, sizeof(pkt));
|
|
|
|
}
|
|
|
|
|
|
|
|
struct PACKED log_Performance {
|
|
|
|
LOG_PACKET_HEADER;
|
|
|
|
uint64_t time_us;
|
|
|
|
uint16_t num_long_running;
|
|
|
|
uint16_t num_loops;
|
|
|
|
uint32_t max_time;
|
|
|
|
int16_t pm_test;
|
|
|
|
uint8_t i2c_lockup_count;
|
|
|
|
uint16_t ins_error_count;
|
2016-04-21 20:06:15 -03:00
|
|
|
uint32_t log_dropped;
|
2015-12-30 18:57:56 -04:00
|
|
|
};
|
|
|
|
|
|
|
|
// Write a performance monitoring packet
|
2016-01-14 15:30:56 -04:00
|
|
|
void Sub::Log_Write_Performance()
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
|
|
|
struct log_Performance pkt = {
|
|
|
|
LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG),
|
|
|
|
time_us : AP_HAL::micros64(),
|
|
|
|
num_long_running : perf_info_get_num_long_running(),
|
|
|
|
num_loops : perf_info_get_num_loops(),
|
|
|
|
max_time : perf_info_get_max_time(),
|
|
|
|
pm_test : pmTest1,
|
2016-11-17 01:12:06 -04:00
|
|
|
i2c_lockup_count : 0,
|
2016-04-21 20:06:15 -03:00
|
|
|
ins_error_count : ins.error_count(),
|
|
|
|
log_dropped : DataFlash.num_dropped() - perf_info_get_num_dropped(),
|
2015-12-30 18:57:56 -04:00
|
|
|
};
|
2016-04-21 20:06:15 -03:00
|
|
|
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
|
2015-12-30 18:57:56 -04:00
|
|
|
}
|
|
|
|
|
|
|
|
// Write an attitude packet
|
2016-01-14 15:30:56 -04:00
|
|
|
void Sub::Log_Write_Attitude()
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
|
|
|
Vector3f targets = attitude_control.get_att_target_euler_cd();
|
|
|
|
targets.z = wrap_360_cd_float(targets.z);
|
|
|
|
DataFlash.Log_Write_Attitude(ahrs, targets);
|
|
|
|
|
|
|
|
#if OPTFLOW == ENABLED
|
|
|
|
DataFlash.Log_Write_EKF(ahrs,optflow.enabled());
|
|
|
|
#else
|
|
|
|
DataFlash.Log_Write_EKF(ahrs,false);
|
|
|
|
#endif
|
|
|
|
DataFlash.Log_Write_AHRS2(ahrs);
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
|
|
sitl.Log_Write_SIMSTATE(&DataFlash);
|
|
|
|
#endif
|
|
|
|
DataFlash.Log_Write_POS(ahrs);
|
|
|
|
}
|
|
|
|
|
|
|
|
struct PACKED log_MotBatt {
|
|
|
|
LOG_PACKET_HEADER;
|
|
|
|
uint64_t time_us;
|
|
|
|
float lift_max;
|
|
|
|
float bat_volt;
|
|
|
|
float bat_res;
|
|
|
|
float th_limit;
|
|
|
|
};
|
|
|
|
|
|
|
|
// Write an rate packet
|
2016-01-14 15:30:56 -04:00
|
|
|
void Sub::Log_Write_MotBatt()
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
|
|
|
struct log_MotBatt pkt_mot = {
|
|
|
|
LOG_PACKET_HEADER_INIT(LOG_MOTBATT_MSG),
|
|
|
|
time_us : AP_HAL::micros64(),
|
|
|
|
lift_max : (float)(motors.get_lift_max()),
|
|
|
|
bat_volt : (float)(motors.get_batt_voltage_filt()),
|
|
|
|
bat_res : (float)(motors.get_batt_resistance()),
|
|
|
|
th_limit : (float)(motors.get_throttle_limit())
|
|
|
|
};
|
|
|
|
DataFlash.WriteBlock(&pkt_mot, sizeof(pkt_mot));
|
|
|
|
}
|
|
|
|
|
|
|
|
struct PACKED log_Event {
|
|
|
|
LOG_PACKET_HEADER;
|
|
|
|
uint64_t time_us;
|
|
|
|
uint8_t id;
|
|
|
|
};
|
|
|
|
|
|
|
|
// Wrote an event packet
|
2016-01-14 15:30:56 -04:00
|
|
|
void Sub::Log_Write_Event(uint8_t id)
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
|
|
|
if (should_log(MASK_LOG_ANY)) {
|
|
|
|
struct log_Event pkt = {
|
|
|
|
LOG_PACKET_HEADER_INIT(LOG_EVENT_MSG),
|
|
|
|
time_us : AP_HAL::micros64(),
|
|
|
|
id : id
|
|
|
|
};
|
|
|
|
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
struct PACKED log_Data_Int16t {
|
|
|
|
LOG_PACKET_HEADER;
|
|
|
|
uint64_t time_us;
|
|
|
|
uint8_t id;
|
|
|
|
int16_t data_value;
|
|
|
|
};
|
|
|
|
|
|
|
|
// Write an int16_t data packet
|
|
|
|
UNUSED_FUNCTION
|
2016-01-14 15:30:56 -04:00
|
|
|
void Sub::Log_Write_Data(uint8_t id, int16_t value)
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
|
|
|
if (should_log(MASK_LOG_ANY)) {
|
|
|
|
struct log_Data_Int16t pkt = {
|
|
|
|
LOG_PACKET_HEADER_INIT(LOG_DATA_INT16_MSG),
|
|
|
|
time_us : AP_HAL::micros64(),
|
|
|
|
id : id,
|
|
|
|
data_value : value
|
|
|
|
};
|
2016-04-21 20:06:15 -03:00
|
|
|
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
|
2015-12-30 18:57:56 -04:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
struct PACKED log_Data_UInt16t {
|
|
|
|
LOG_PACKET_HEADER;
|
|
|
|
uint64_t time_us;
|
|
|
|
uint8_t id;
|
|
|
|
uint16_t data_value;
|
|
|
|
};
|
|
|
|
|
|
|
|
// Write an uint16_t data packet
|
|
|
|
UNUSED_FUNCTION
|
2016-01-14 15:30:56 -04:00
|
|
|
void Sub::Log_Write_Data(uint8_t id, uint16_t value)
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
|
|
|
if (should_log(MASK_LOG_ANY)) {
|
|
|
|
struct log_Data_UInt16t pkt = {
|
|
|
|
LOG_PACKET_HEADER_INIT(LOG_DATA_UINT16_MSG),
|
|
|
|
time_us : AP_HAL::micros64(),
|
|
|
|
id : id,
|
|
|
|
data_value : value
|
|
|
|
};
|
2016-04-21 20:06:15 -03:00
|
|
|
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
|
2015-12-30 18:57:56 -04:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
struct PACKED log_Data_Int32t {
|
|
|
|
LOG_PACKET_HEADER;
|
|
|
|
uint64_t time_us;
|
|
|
|
uint8_t id;
|
|
|
|
int32_t data_value;
|
|
|
|
};
|
|
|
|
|
|
|
|
// Write an int32_t data packet
|
2016-01-14 15:30:56 -04:00
|
|
|
void Sub::Log_Write_Data(uint8_t id, int32_t value)
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
|
|
|
if (should_log(MASK_LOG_ANY)) {
|
|
|
|
struct log_Data_Int32t pkt = {
|
|
|
|
LOG_PACKET_HEADER_INIT(LOG_DATA_INT32_MSG),
|
|
|
|
time_us : AP_HAL::micros64(),
|
|
|
|
id : id,
|
|
|
|
data_value : value
|
|
|
|
};
|
2016-04-21 20:06:15 -03:00
|
|
|
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
|
2015-12-30 18:57:56 -04:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
struct PACKED log_Data_UInt32t {
|
|
|
|
LOG_PACKET_HEADER;
|
|
|
|
uint64_t time_us;
|
|
|
|
uint8_t id;
|
|
|
|
uint32_t data_value;
|
|
|
|
};
|
|
|
|
|
|
|
|
// Write a uint32_t data packet
|
2016-01-14 15:30:56 -04:00
|
|
|
void Sub::Log_Write_Data(uint8_t id, uint32_t value)
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
|
|
|
if (should_log(MASK_LOG_ANY)) {
|
|
|
|
struct log_Data_UInt32t pkt = {
|
|
|
|
LOG_PACKET_HEADER_INIT(LOG_DATA_UINT32_MSG),
|
|
|
|
time_us : AP_HAL::micros64(),
|
|
|
|
id : id,
|
|
|
|
data_value : value
|
|
|
|
};
|
2016-04-21 20:06:15 -03:00
|
|
|
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
|
2015-12-30 18:57:56 -04:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
struct PACKED log_Data_Float {
|
|
|
|
LOG_PACKET_HEADER;
|
|
|
|
uint64_t time_us;
|
|
|
|
uint8_t id;
|
|
|
|
float data_value;
|
|
|
|
};
|
|
|
|
|
|
|
|
// Write a float data packet
|
|
|
|
UNUSED_FUNCTION
|
2016-01-14 15:30:56 -04:00
|
|
|
void Sub::Log_Write_Data(uint8_t id, float value)
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
|
|
|
if (should_log(MASK_LOG_ANY)) {
|
|
|
|
struct log_Data_Float pkt = {
|
|
|
|
LOG_PACKET_HEADER_INIT(LOG_DATA_FLOAT_MSG),
|
|
|
|
time_us : AP_HAL::micros64(),
|
|
|
|
id : id,
|
|
|
|
data_value : value
|
|
|
|
};
|
2016-04-21 20:06:15 -03:00
|
|
|
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
|
2015-12-30 18:57:56 -04:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
struct PACKED log_Error {
|
|
|
|
LOG_PACKET_HEADER;
|
|
|
|
uint64_t time_us;
|
|
|
|
uint8_t sub_system;
|
|
|
|
uint8_t error_code;
|
|
|
|
};
|
|
|
|
|
|
|
|
// Write an error packet
|
2016-01-14 15:30:56 -04:00
|
|
|
void Sub::Log_Write_Error(uint8_t sub_system, uint8_t error_code)
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
|
|
|
struct log_Error pkt = {
|
|
|
|
LOG_PACKET_HEADER_INIT(LOG_ERROR_MSG),
|
|
|
|
time_us : AP_HAL::micros64(),
|
|
|
|
sub_system : sub_system,
|
|
|
|
error_code : error_code,
|
|
|
|
};
|
2016-04-21 20:06:15 -03:00
|
|
|
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
|
2015-12-30 18:57:56 -04:00
|
|
|
}
|
|
|
|
|
2016-01-14 15:30:56 -04:00
|
|
|
void Sub::Log_Write_Baro(void)
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
|
|
|
DataFlash.Log_Write_Baro(barometer);
|
|
|
|
}
|
|
|
|
|
|
|
|
struct PACKED log_ParameterTuning {
|
|
|
|
LOG_PACKET_HEADER;
|
|
|
|
uint64_t time_us;
|
|
|
|
uint8_t parameter; // parameter we are tuning, e.g. 39 is CH6_CIRCLE_RATE
|
|
|
|
float tuning_value; // normalized value used inside tuning() function
|
|
|
|
int16_t control_in; // raw tune input value
|
|
|
|
int16_t tuning_low; // tuning low end value
|
|
|
|
int16_t tuning_high; // tuning high end value
|
|
|
|
};
|
|
|
|
|
2016-01-14 15:30:56 -04:00
|
|
|
void Sub::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t control_in, int16_t tune_low, int16_t tune_high)
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
|
|
|
struct log_ParameterTuning pkt_tune = {
|
|
|
|
LOG_PACKET_HEADER_INIT(LOG_PARAMTUNE_MSG),
|
|
|
|
time_us : AP_HAL::micros64(),
|
|
|
|
parameter : param,
|
|
|
|
tuning_value : tuning_val,
|
|
|
|
control_in : control_in,
|
|
|
|
tuning_low : tune_low,
|
|
|
|
tuning_high : tune_high
|
|
|
|
};
|
|
|
|
|
|
|
|
DataFlash.WriteBlock(&pkt_tune, sizeof(pkt_tune));
|
|
|
|
}
|
|
|
|
|
|
|
|
// log EKF origin and ahrs home to dataflash
|
2016-01-14 15:30:56 -04:00
|
|
|
void Sub::Log_Write_Home_And_Origin()
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
|
|
|
// log ekf origin if set
|
|
|
|
Location ekf_orig;
|
2016-03-13 15:39:00 -03:00
|
|
|
if (ahrs.get_origin(ekf_orig)) {
|
2015-12-30 18:57:56 -04:00
|
|
|
DataFlash.Log_Write_Origin(LogOriginType::ekf_origin, ekf_orig);
|
|
|
|
}
|
|
|
|
|
|
|
|
// log ahrs home if set
|
|
|
|
if (ap.home_state != HOME_UNSET) {
|
|
|
|
DataFlash.Log_Write_Origin(LogOriginType::ahrs_home, ahrs.get_home());
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
// logs when baro or compass becomes unhealthy
|
2016-01-14 15:30:56 -04:00
|
|
|
void Sub::Log_Sensor_Health()
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
|
|
|
// check baro
|
|
|
|
if (sensor_health.baro != barometer.healthy()) {
|
|
|
|
sensor_health.baro = barometer.healthy();
|
|
|
|
Log_Write_Error(ERROR_SUBSYSTEM_BARO, (sensor_health.baro ? ERROR_CODE_ERROR_RESOLVED : ERROR_CODE_UNHEALTHY));
|
|
|
|
}
|
|
|
|
|
|
|
|
// check compass
|
|
|
|
if (sensor_health.compass != compass.healthy()) {
|
|
|
|
sensor_health.compass = compass.healthy();
|
|
|
|
Log_Write_Error(ERROR_SUBSYSTEM_COMPASS, (sensor_health.compass ? ERROR_CODE_ERROR_RESOLVED : ERROR_CODE_UNHEALTHY));
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
struct PACKED log_Heli {
|
|
|
|
LOG_PACKET_HEADER;
|
|
|
|
uint64_t time_us;
|
2016-04-05 00:17:39 -03:00
|
|
|
float desired_rotor_speed;
|
|
|
|
float main_rotor_speed;
|
2015-12-30 18:57:56 -04:00
|
|
|
};
|
|
|
|
|
|
|
|
// precision landing logging
|
|
|
|
struct PACKED log_Precland {
|
|
|
|
LOG_PACKET_HEADER;
|
|
|
|
uint64_t time_us;
|
|
|
|
uint8_t healthy;
|
|
|
|
float bf_angle_x;
|
|
|
|
float bf_angle_y;
|
|
|
|
float ef_angle_x;
|
|
|
|
float ef_angle_y;
|
|
|
|
float pos_x;
|
|
|
|
float pos_y;
|
|
|
|
};
|
|
|
|
|
|
|
|
// Write an optical flow packet
|
2016-01-14 15:30:56 -04:00
|
|
|
void Sub::Log_Write_Precland()
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
|
|
|
#if PRECISION_LANDING == ENABLED
|
|
|
|
// exit immediately if not enabled
|
|
|
|
if (!precland.enabled()) {
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
|
|
|
|
const Vector2f &bf_angle = precland.last_bf_angle_to_target();
|
|
|
|
const Vector2f &ef_angle = precland.last_ef_angle_to_target();
|
|
|
|
const Vector3f &target_pos_ofs = precland.last_target_pos_offset();
|
|
|
|
struct log_Precland pkt = {
|
|
|
|
LOG_PACKET_HEADER_INIT(LOG_PRECLAND_MSG),
|
|
|
|
time_us : AP_HAL::micros64(),
|
|
|
|
healthy : precland.healthy(),
|
|
|
|
bf_angle_x : degrees(bf_angle.x),
|
|
|
|
bf_angle_y : degrees(bf_angle.y),
|
|
|
|
ef_angle_x : degrees(ef_angle.x),
|
|
|
|
ef_angle_y : degrees(ef_angle.y),
|
|
|
|
pos_x : target_pos_ofs.x,
|
|
|
|
pos_y : target_pos_ofs.y
|
|
|
|
};
|
|
|
|
DataFlash.WriteBlock(&pkt, sizeof(pkt));
|
|
|
|
#endif // PRECISION_LANDING == ENABLED
|
|
|
|
}
|
|
|
|
|
2016-05-03 01:45:37 -03:00
|
|
|
// precision landing logging
|
|
|
|
struct PACKED log_GuidedTarget {
|
|
|
|
LOG_PACKET_HEADER;
|
|
|
|
uint64_t time_us;
|
|
|
|
uint8_t type;
|
|
|
|
float pos_target_x;
|
|
|
|
float pos_target_y;
|
|
|
|
float pos_target_z;
|
|
|
|
float vel_target_x;
|
|
|
|
float vel_target_y;
|
|
|
|
float vel_target_z;
|
|
|
|
};
|
|
|
|
|
|
|
|
// Write a Guided mode target
|
|
|
|
void Sub::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target)
|
|
|
|
{
|
|
|
|
struct log_GuidedTarget pkt = {
|
|
|
|
LOG_PACKET_HEADER_INIT(LOG_GUIDEDTARGET_MSG),
|
|
|
|
time_us : AP_HAL::micros64(),
|
|
|
|
type : target_type,
|
|
|
|
pos_target_x : pos_target.x,
|
|
|
|
pos_target_y : pos_target.y,
|
|
|
|
pos_target_z : pos_target.z,
|
|
|
|
vel_target_x : vel_target.x,
|
|
|
|
vel_target_y : vel_target.y,
|
|
|
|
vel_target_z : vel_target.z
|
|
|
|
};
|
|
|
|
DataFlash.WriteBlock(&pkt, sizeof(pkt));
|
|
|
|
}
|
|
|
|
|
2016-01-14 15:30:56 -04:00
|
|
|
const struct LogStructure Sub::log_structure[] = {
|
2015-12-30 18:57:56 -04:00
|
|
|
LOG_COMMON_STRUCTURES,
|
|
|
|
#if AUTOTUNE_ENABLED == ENABLED
|
|
|
|
{ LOG_AUTOTUNE_MSG, sizeof(log_AutoTune),
|
|
|
|
"ATUN", "QBBfffffff", "TimeUS,Axis,TuneStep,Targ,Min,Max,RP,RD,SP,ddt" },
|
|
|
|
{ LOG_AUTOTUNEDETAILS_MSG, sizeof(log_AutoTuneDetails),
|
|
|
|
"ATDE", "Qff", "TimeUS,Angle,Rate" },
|
|
|
|
#endif
|
|
|
|
{ LOG_PARAMTUNE_MSG, sizeof(log_ParameterTuning),
|
|
|
|
"PTUN", "QBfHHH", "TimeUS,Param,TunVal,CtrlIn,TunLo,TunHi" },
|
|
|
|
{ LOG_OPTFLOW_MSG, sizeof(log_Optflow),
|
|
|
|
"OF", "QBffff", "TimeUS,Qual,flowX,flowY,bodyX,bodyY" },
|
|
|
|
{ LOG_NAV_TUNING_MSG, sizeof(log_Nav_Tuning),
|
|
|
|
"NTUN", "Qffffffffff", "TimeUS,DPosX,DPosY,PosX,PosY,DVelX,DVelY,VelX,VelY,DAccX,DAccY" },
|
|
|
|
{ LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning),
|
2016-07-05 21:18:58 -03:00
|
|
|
"CTUN", "Qffffffeccfhh", "TimeUS,ThrIn,ABst,ThrOut,DAlt,Alt,BAlt,DSAlt,SAlt,TAlt,DCRt,CRt" },
|
2015-12-30 18:57:56 -04:00
|
|
|
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
|
2016-04-21 20:06:15 -03:00
|
|
|
"PM", "QHHIhBHI", "TimeUS,NLon,NLoop,MaxT,PMT,I2CErr,INSErr,LogDrop" },
|
2015-12-30 18:57:56 -04:00
|
|
|
{ LOG_MOTBATT_MSG, sizeof(log_MotBatt),
|
|
|
|
"MOTB", "Qffff", "TimeUS,LiftMax,BatVolt,BatRes,ThLimit" },
|
|
|
|
{ LOG_EVENT_MSG, sizeof(log_Event),
|
|
|
|
"EV", "QB", "TimeUS,Id" },
|
|
|
|
{ LOG_DATA_INT16_MSG, sizeof(log_Data_Int16t),
|
|
|
|
"D16", "QBh", "TimeUS,Id,Value" },
|
|
|
|
{ LOG_DATA_UINT16_MSG, sizeof(log_Data_UInt16t),
|
|
|
|
"DU16", "QBH", "TimeUS,Id,Value" },
|
|
|
|
{ LOG_DATA_INT32_MSG, sizeof(log_Data_Int32t),
|
|
|
|
"D32", "QBi", "TimeUS,Id,Value" },
|
|
|
|
{ LOG_DATA_UINT32_MSG, sizeof(log_Data_UInt32t),
|
|
|
|
"DU32", "QBI", "TimeUS,Id,Value" },
|
|
|
|
{ LOG_DATA_FLOAT_MSG, sizeof(log_Data_Float),
|
|
|
|
"DFLT", "QBf", "TimeUS,Id,Value" },
|
|
|
|
{ LOG_ERROR_MSG, sizeof(log_Error),
|
|
|
|
"ERR", "QBB", "TimeUS,Subsys,ECode" },
|
|
|
|
{ LOG_HELI_MSG, sizeof(log_Heli),
|
2016-04-05 00:17:39 -03:00
|
|
|
"HELI", "Qff", "TimeUS,DRRPM,ERRPM" },
|
2015-12-30 18:57:56 -04:00
|
|
|
{ LOG_PRECLAND_MSG, sizeof(log_Precland),
|
|
|
|
"PL", "QBffffff", "TimeUS,Heal,bX,bY,eX,eY,pX,pY" },
|
2016-05-03 01:45:37 -03:00
|
|
|
{ LOG_GUIDEDTARGET_MSG, sizeof(log_GuidedTarget),
|
|
|
|
"GUID", "QBffffff", "TimeUS,Type,pX,pY,pZ,vX,vY,vZ" },
|
2015-12-30 18:57:56 -04:00
|
|
|
};
|
|
|
|
|
|
|
|
#if CLI_ENABLED == ENABLED
|
|
|
|
// Read the DataFlash log memory
|
2016-01-14 15:30:56 -04:00
|
|
|
void Sub::Log_Read(uint16_t list_entry, uint16_t start_page, uint16_t end_page)
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
|
|
|
cliSerial->printf("\n" FIRMWARE_STRING
|
|
|
|
"\nFree RAM: %u\n"
|
|
|
|
"\nFrame: " FRAME_CONFIG_STRING "\n",
|
|
|
|
(unsigned) hal.util->available_memory());
|
|
|
|
|
|
|
|
cliSerial->println(HAL_BOARD_NAME);
|
|
|
|
|
|
|
|
DataFlash.LogReadProcess(list_entry, start_page, end_page,
|
2016-01-14 15:30:56 -04:00
|
|
|
FUNCTOR_BIND_MEMBER(&Sub::print_flight_mode, void, AP_HAL::BetterStream *, uint8_t),
|
2015-12-30 18:57:56 -04:00
|
|
|
cliSerial);
|
|
|
|
}
|
|
|
|
#endif // CLI_ENABLED
|
|
|
|
|
2016-01-14 15:30:56 -04:00
|
|
|
void Sub::Log_Write_Vehicle_Startup_Messages()
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
|
|
|
// only 200(?) bytes are guaranteed by DataFlash
|
|
|
|
DataFlash.Log_Write_Message("Frame: " FRAME_CONFIG_STRING);
|
2016-04-18 01:38:21 -03:00
|
|
|
DataFlash.Log_Write_Mode(control_mode, control_mode_reason);
|
2015-12-30 18:57:56 -04:00
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
// start a new log
|
2016-01-14 15:30:56 -04:00
|
|
|
void Sub::start_logging()
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
|
|
|
if (g.log_bitmask != 0) {
|
|
|
|
if (!ap.logging_started) {
|
|
|
|
ap.logging_started = true;
|
|
|
|
DataFlash.set_mission(&mission);
|
2016-01-14 15:30:56 -04:00
|
|
|
DataFlash.setVehicle_Startup_Log_Writer(FUNCTOR_BIND(&sub, &Sub::Log_Write_Vehicle_Startup_Messages, void));
|
2015-12-30 18:57:56 -04:00
|
|
|
DataFlash.StartNewLog();
|
|
|
|
}
|
|
|
|
// enable writes
|
|
|
|
DataFlash.EnableWrites(true);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2016-01-14 15:30:56 -04:00
|
|
|
void Sub::log_init(void)
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
|
|
|
DataFlash.Init(log_structure, ARRAY_SIZE(log_structure));
|
|
|
|
if (!DataFlash.CardInserted()) {
|
|
|
|
gcs_send_text(MAV_SEVERITY_WARNING, "No dataflash card inserted");
|
|
|
|
g.log_bitmask.set(0);
|
|
|
|
} else if (DataFlash.NeedPrep()) {
|
|
|
|
gcs_send_text(MAV_SEVERITY_INFO, "Preparing log system");
|
|
|
|
DataFlash.Prep();
|
|
|
|
gcs_send_text(MAV_SEVERITY_INFO, "Prepared log system");
|
|
|
|
for (uint8_t i=0; i<num_gcs; i++) {
|
|
|
|
gcs[i].reset_cli_timeout();
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
#else // LOGGING_ENABLED
|
|
|
|
|
|
|
|
#if CLI_ENABLED == ENABLED
|
2016-01-14 15:30:56 -04:00
|
|
|
bool Sub::print_log_menu(void) { return true; }
|
|
|
|
int8_t Sub::dump_log(uint8_t argc, const Menu::arg *argv) { return 0; }
|
|
|
|
int8_t Sub::erase_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
|
|
|
|
int8_t Sub::select_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
|
|
|
|
int8_t Sub::process_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
|
|
|
|
void Sub::Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page) {}
|
2015-12-30 18:57:56 -04:00
|
|
|
#endif // CLI_ENABLED == ENABLED
|
|
|
|
|
2016-01-14 15:30:56 -04:00
|
|
|
void Sub::do_erase_logs(void) {}
|
|
|
|
void Sub::Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float meas_target, \
|
2015-12-30 18:57:56 -04:00
|
|
|
float meas_min, float meas_max, float new_gain_rp, \
|
|
|
|
float new_gain_rd, float new_gain_sp, float new_ddt) {}
|
2016-01-14 15:30:56 -04:00
|
|
|
void Sub::Log_Write_AutoTuneDetails(float angle_cd, float rate_cds) {}
|
|
|
|
void Sub::Log_Write_Current() {}
|
|
|
|
void Sub::Log_Write_Nav_Tuning() {}
|
|
|
|
void Sub::Log_Write_Control_Tuning() {}
|
|
|
|
void Sub::Log_Write_Performance() {}
|
|
|
|
void Sub::Log_Write_Attitude(void) {}
|
|
|
|
void Sub::Log_Write_MotBatt() {}
|
|
|
|
void Sub::Log_Write_Startup() {}
|
|
|
|
void Sub::Log_Write_Event(uint8_t id) {}
|
|
|
|
void Sub::Log_Write_Data(uint8_t id, int32_t value) {}
|
|
|
|
void Sub::Log_Write_Data(uint8_t id, uint32_t value) {}
|
|
|
|
void Sub::Log_Write_Data(uint8_t id, int16_t value) {}
|
|
|
|
void Sub::Log_Write_Data(uint8_t id, uint16_t value) {}
|
|
|
|
void Sub::Log_Write_Data(uint8_t id, float value) {}
|
|
|
|
void Sub::Log_Write_Error(uint8_t sub_system, uint8_t error_code) {}
|
|
|
|
void Sub::Log_Write_Baro(void) {}
|
|
|
|
void Sub::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t control_in, int16_t tune_low, int16_t tune_high) {}
|
|
|
|
void Sub::Log_Write_Home_And_Origin() {}
|
|
|
|
void Sub::Log_Sensor_Health() {}
|
2016-07-05 21:18:58 -03:00
|
|
|
void Sub::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
|
2015-12-30 18:57:56 -04:00
|
|
|
|
|
|
|
#if OPTFLOW == ENABLED
|
2016-01-14 15:30:56 -04:00
|
|
|
void Sub::Log_Write_Optflow() {}
|
2015-12-30 18:57:56 -04:00
|
|
|
#endif
|
|
|
|
|
2016-01-14 15:30:56 -04:00
|
|
|
void Sub::start_logging() {}
|
|
|
|
void Sub::log_init(void) {}
|
2015-12-30 18:57:56 -04:00
|
|
|
|
|
|
|
#endif // LOGGING_ENABLED
|