ardupilot/ArduSub/Log.cpp

#include "Sub.h"

#if LOGGING_ENABLED == ENABLED

// Code to Write and Read packets from AP_Logger log memory
// Code to interact with the user to dump or erase logs

struct PACKED log_Control_Tuning {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    float  throttle_in;
    float  angle_boost;
    float    throttle_out;
    float    throttle_hover;
    float    desired_alt;
    float    inav_alt;
    float    baro_alt;
    int16_t  desired_rangefinder_alt;
    int16_t  rangefinder_alt;
    float    terr_alt;
    int16_t  target_climb_rate;
    int16_t  climb_rate;
};

// Write a control tuning packet
void Sub::Log_Write_Control_Tuning()
{
    // get terrain altitude
    float terr_alt = 0.0f;
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
    terrain.height_above_terrain(terr_alt, true);
#endif

    struct log_Control_Tuning pkt = {
        LOG_PACKET_HEADER_INIT(LOG_CONTROL_TUNING_MSG),
        time_us             : AP_HAL::micros64(),
        throttle_in         : attitude_control.get_throttle_in(),
        angle_boost         : attitude_control.angle_boost(),
        throttle_out        : motors.get_throttle(),
        throttle_hover      : motors.get_throttle_hover(),
        desired_alt         : pos_control.get_alt_target() / 100.0f,
        inav_alt            : inertial_nav.get_altitude() / 100.0f,
        baro_alt            : barometer.get_altitude(),
        desired_rangefinder_alt   : (int16_t)target_rangefinder_alt,
        rangefinder_alt           : rangefinder_state.alt_cm,
        terr_alt            : terr_alt,
        target_climb_rate   : (int16_t)pos_control.get_vel_target_z(),
        climb_rate          : climb_rate
    };
    logger.WriteBlock(&pkt, sizeof(pkt));
}

// Write an attitude packet
void Sub::Log_Write_Attitude()
{
    Vector3f targets = attitude_control.get_att_target_euler_cd();
    targets.z = wrap_360_cd(targets.z);
    ahrs.Write_Attitude(targets);

    AP::ahrs_navekf().Log_Write();
    ahrs.Write_AHRS2();
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
    sitl.Log_Write_SIMSTATE();
#endif
    ahrs.Write_POS();
}

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
void Sub::Log_Write_MotBatt()
{
    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)(battery.get_resistance()),
        th_limit        : (float)(motors.get_throttle_limit())
    };
    logger.WriteBlock(&pkt_mot, sizeof(pkt_mot));
}

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
void Sub::Log_Write_Data(LogDataID id, int16_t value)
{
    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          : (uint8_t)id,
            data_value  : value
        };
        logger.WriteCriticalBlock(&pkt, sizeof(pkt));
    }
}

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
void Sub::Log_Write_Data(LogDataID id, uint16_t value)
{
    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          : (uint8_t)id,
            data_value  : value
        };
        logger.WriteCriticalBlock(&pkt, sizeof(pkt));
    }
}

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
void Sub::Log_Write_Data(LogDataID id, int32_t value)
{
    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          : (uint8_t)id,
            data_value  : value
        };
        logger.WriteCriticalBlock(&pkt, sizeof(pkt));
    }
}

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
void Sub::Log_Write_Data(LogDataID id, uint32_t value)
{
    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          : (uint8_t)id,
            data_value  : value
        };
        logger.WriteCriticalBlock(&pkt, sizeof(pkt));
    }
}

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
void Sub::Log_Write_Data(LogDataID id, float value)
{
    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          : (uint8_t)id,
            data_value  : value
        };
        logger.WriteCriticalBlock(&pkt, sizeof(pkt));
    }
}

// logs when baro or compass becomes unhealthy
void Sub::Log_Sensor_Health()
{
    // check baro
    if (sensor_health.baro != barometer.healthy()) {
        sensor_health.baro = barometer.healthy();
        AP::logger().Write_Error(LogErrorSubsystem::BARO, (sensor_health.baro ? LogErrorCode::ERROR_RESOLVED : LogErrorCode::UNHEALTHY));
    }

    // check compass
    if (sensor_health.compass != compass.healthy()) {
        sensor_health.compass = compass.healthy();
        AP::logger().Write_Error(LogErrorSubsystem::COMPASS, (sensor_health.compass ? LogErrorCode::ERROR_RESOLVED : LogErrorCode::UNHEALTHY));
    }
}

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
    };
    logger.WriteBlock(&pkt, sizeof(pkt));
}

// @LoggerMessage: CTUN
// @Description: Control Tuning information
// @Field: TimeUS: Time since system startup
// @Field: ThI: throttle input
// @Field: ABst: angle boost
// @Field: ThO: throttle output
// @Field: ThH: calculated hover throttle
// @Field: DAlt: desired altitude
// @Field: Alt: achieved altitude
// @Field: BAlt: barometric altitude
// @Field: DSAlt: desired rangefinder altitude
// @Field: SAlt: achieved rangefinder altitude
// @Field: TAlt: terrain altitude
// @Field: DCRt: desired climb rate
// @Field: CRt: climb rate

// @LoggerMessage: MOTB
// @Description: Battery information
// @Field: TimeUS: Time since system startup
// @Field: LiftMax: Maximum motor compensation gain
// @Field: BatVolt: Ratio betwen detected battery voltage and maximum battery voltage
// @Field: BatRes: Estimated battery resistance
// @Field: ThLimit: Throttle limit set due to battery current limitations

// @LoggerMessage: D16
// @Description: Generic 16-bit-signed-integer storage
// @Field: TimeUS: Time since system startup
// @Field: Id: Data type identifier
// @Field: Value: Value

// @LoggerMessage: D32
// @Description: Generic 32-bit-signed-integer storage
// @Field: TimeUS: Time since system startup
// @Field: Id: Data type identifier
// @Field: Value: Value

// @LoggerMessage: DFLT
// @Description: Generic float storage
// @Field: TimeUS: Time since system startup
// @Field: Id: Data type identifier
// @Field: Value: Value

// @LoggerMessage: DU16
// @Description: Generic 16-bit-unsigned-integer storage
// @Field: TimeUS: Time since system startup
// @Field: Id: Data type identifier
// @Field: Value: Value

// @LoggerMessage: DU32
// @Description: Generic 32-bit-unsigned-integer storage
// @Field: TimeUS: Time since system startup
// @Field: Id: Data type identifier
// @Field: Value: Value

// @LoggerMessage: GUID
// @Description: Guided mode target information
// @Field: TimeUS: Time since system startup
// @Field: Type: Type of guided mode
// @Field: pX: Target position, X-Axis
// @Field: pY: Target position, Y-Axis
// @Field: pZ: Target position, Z-Axis
// @Field: vX: Target velocity, X-Axis
// @Field: vY: Target velocity, Y-Axis
// @Field: vZ: Target velocity, Z-Axis

// type and unit information can be found in
// libraries/AP_Logger/Logstructure.h; search for "log_Units" for
// units and "Format characters" for field type information
const struct LogStructure Sub::log_structure[] = {
    LOG_COMMON_STRUCTURES,
    { LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning),
      "CTUN", "Qfffffffccfhh", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DSAlt,SAlt,TAlt,DCRt,CRt", "s----mmmmmmnn", "F----00BBBBBB" },
    { LOG_MOTBATT_MSG, sizeof(log_MotBatt),
      "MOTB", "Qffff",  "TimeUS,LiftMax,BatVolt,BatRes,ThLimit", "s-vw-", "F-00-" },
    { LOG_DATA_INT16_MSG, sizeof(log_Data_Int16t),         
      "D16",   "QBh",         "TimeUS,Id,Value", "s--", "F--" },
    { LOG_DATA_UINT16_MSG, sizeof(log_Data_UInt16t),         
      "DU16",  "QBH",         "TimeUS,Id,Value", "s--", "F--" },
    { LOG_DATA_INT32_MSG, sizeof(log_Data_Int32t),         
      "D32",   "QBi",         "TimeUS,Id,Value", "s--", "F--" },
    { LOG_DATA_UINT32_MSG, sizeof(log_Data_UInt32t),         
      "DU32",  "QBI",         "TimeUS,Id,Value", "s--", "F--" },
    { LOG_DATA_FLOAT_MSG, sizeof(log_Data_Float),         
      "DFLT",  "QBf",         "TimeUS,Id,Value", "s--", "F--" },
    { LOG_GUIDEDTARGET_MSG, sizeof(log_GuidedTarget),
      "GUID",  "QBffffff",    "TimeUS,Type,pX,pY,pZ,vX,vY,vZ", "s-mmmnnn", "F-000000" },
};

void Sub::Log_Write_Vehicle_Startup_Messages()
{
    // only 200(?) bytes are guaranteed by AP_Logger
    logger.Write_Mode(control_mode, control_mode_reason);
    ahrs.Log_Write_Home_And_Origin();
    gps.Write_AP_Logger_Log_Startup_messages();
}


void Sub::log_init()
{
    logger.Init(log_structure, ARRAY_SIZE(log_structure));
}

#else // LOGGING_ENABLED

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_Data(LogDataID id, int32_t value) {}
void Sub::Log_Write_Data(LogDataID id, uint32_t value) {}
void Sub::Log_Write_Data(LogDataID id, int16_t value) {}
void Sub::Log_Write_Data(LogDataID id, uint16_t value) {}
void Sub::Log_Write_Data(LogDataID id, float value) {}
void Sub::Log_Sensor_Health() {}
void Sub::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
void Sub::Log_Write_Vehicle_Startup_Messages() {}

void Sub::log_init(void) {}

#endif // LOGGING_ENABLED