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Copter: print flight mode as string

This commit is contained in:
Andrew Tridgell 2013-04-20 15:18:22 +10:00
parent 2e5834cc7f
commit 02c3083f60
4 changed files with 41 additions and 38 deletions
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5
ArduCopter/ArduCopter.pde
View File

@ -147,6 +147,7 @@ static AP_Scheduler scheduler;
// prototypes
////////////////////////////////////////////////////////////////////////////////
static void update_events(void);
static void print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode);
////////////////////////////////////////////////////////////////////////////////
// Dataflash
@ -156,8 +157,8 @@ static DataFlash_APM2 DataFlash;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
static DataFlash_APM1 DataFlash;
#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
//static DataFlash_File DataFlash("/tmp/APMlogs");
static DataFlash_SITL DataFlash;
static DataFlash_File DataFlash("/tmp/APMlogs");
//static DataFlash_SITL DataFlash;
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
static DataFlash_File DataFlash("/fs/microsd/APM/logs");
#else

42
ArduCopter/Log.pde
View File

@ -170,7 +170,7 @@ struct PACKED log_Current {
float current_total;
};
// Write an Current data packet. Total length : 16 bytes
// Write an Current data packet
static void Log_Write_Current()
{
struct log_Current pkt = {
@ -199,7 +199,7 @@ struct PACKED log_Motors {
#endif
};
// Write an Motors packet. Total length : 12 ~ 20 bytes
// Write an Motors packet
static void Log_Write_Motors()
{
struct log_Motors pkt = {
@ -254,7 +254,7 @@ struct PACKED log_Optflow {
int32_t pitch;
};
// Write an optical flow packet. Total length : 30 bytes
// Write an optical flow packet
static void Log_Write_Optflow()
{
#if OPTFLOW == ENABLED
@ -286,7 +286,7 @@ struct PACKED log_Nav_Tuning {
int16_t lon_speed;
};
// Write an Nav Tuning packet. Total length : 24 bytes
// Write an Nav Tuning packet
static void Log_Write_Nav_Tuning()
{
struct log_Nav_Tuning pkt = {
@ -316,7 +316,7 @@ struct PACKED log_Control_Tuning {
int16_t desired_climb_rate;
};
// Write a control tuning packet. Total length : 26 bytes
// Write a control tuning packet
static void Log_Write_Control_Tuning()
{
struct log_Control_Tuning pkt = {
@ -347,7 +347,7 @@ struct PACKED log_Compass {
int16_t motor_offset_z;
};
// Write a Compass packet. Total length : 15 bytes
// Write a Compass packet
static void Log_Write_Compass()
{
Vector3f mag_offsets = compass.get_offsets();
@ -377,7 +377,7 @@ struct PACKED log_Performance {
uint32_t max_time;
};
// Write a performance monitoring packet. Total length : 11 bytes
// Write a performance monitoring packet
static void Log_Write_Performance()
{
struct log_Performance pkt = {
@ -404,7 +404,7 @@ struct PACKED log_Cmd {
int32_t waypoint_longitude;
};
// Write a command processing packet. Total length : 21 bytes
// Write a command processing packet
static void Log_Write_Cmd(uint8_t num, const struct Location *wp)
{
struct log_Cmd pkt = {
@ -432,7 +432,7 @@ struct PACKED log_Attitude {
uint16_t nav_yaw;
};
// Write an attitude packet. Total length : 16 bytes
// Write an attitude packet
static void Log_Write_Attitude()
{
struct log_Attitude pkt = {
@ -462,7 +462,7 @@ struct PACKED log_INAV {
float inav_lon_from_home;
};
// Write an INAV packet. Total length : 37 Bytes
// Write an INAV packet
static void Log_Write_INAV()
{
Vector3f accel_corr = inertial_nav.accel_correction_ef;
@ -489,7 +489,7 @@ struct PACKED log_Mode {
int16_t throttle_cruise;
};
// Write a mode packet. Total length : 7 bytes
// Write a mode packet
static void Log_Write_Mode(uint8_t mode)
{
struct log_Mode pkt = {
@ -504,7 +504,7 @@ struct PACKED log_Startup {
LOG_PACKET_HEADER;
};
// Write Startup packet. Total length : 4 bytes
// Write Startup packet
static void Log_Write_Startup()
{
struct log_Startup pkt = {
@ -636,7 +636,7 @@ struct PACKED log_PID {
float gain;
};
// Write an PID packet. Total length : 28 bytes
// Write an PID packet
static void Log_Write_PID(uint8_t pid_id, int32_t error, int32_t p, int32_t i, int32_t d, int32_t output, float gain)
{
struct log_PID pkt = {
@ -663,7 +663,7 @@ struct PACKED log_DMP {
};
#if SECONDARY_DMP_ENABLED == ENABLED
// Write a DMP attitude packet. Total length : 16 bytes
// Write a DMP attitude packet
static void Log_Write_DMP()
{
struct log_DMP pkt = {
@ -690,7 +690,7 @@ struct PACKED log_Camera {
uint16_t yaw;
};
// Write a Camera packet. Total length : 26 bytes
// Write a Camera packet
static void Log_Write_Camera()
{
#if CAMERA == ENABLED
@ -714,7 +714,7 @@ struct PACKED log_Error {
uint8_t error_code;
};
// Write an error packet. Total length : 5 bytes
// Write an error packet
static void Log_Write_Error(uint8_t sub_system, uint8_t error_code)
{
struct log_Error pkt = {
@ -739,7 +739,7 @@ struct PACKED log_WPNAV {
int32_t desired_pitch;
};
// Write an WPNAV packet. Total length : 43 Bytes
// Write an WPNAV packet
static void Log_Write_WPNAV()
{
Vector3f velocity = inertial_nav.get_velocity();
@ -795,8 +795,8 @@ static const struct LogStructure log_structure[] PROGMEM = {
"ATT", "cccccCC", "RollIn,Roll,PitchIn,Pitch,YawIn,Yaw,NavYaw" },
{ LOG_INAV_MSG, sizeof(log_INAV),
"INAV", "cccfffiiff", "BAlt,IAlt,IClb,ACorrX,ACorrY,ACorrZ,GLat,GLng,ILat,ILng" },
{ LOG_MODE_MSG, sizeof(log_Mode),
"MODE", "Bh", "Mode,ThrCrs" },
{ LOG_MODE_MSG, sizeof(log_Mode),
"MODE", "Mh", "Mode,ThrCrs" },
{ LOG_STARTUP_MSG, sizeof(log_Startup),
"STRT", "", "" },
{ LOG_EVENT_MSG, sizeof(log_Event),
@ -838,7 +838,9 @@ static void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page)
DataFlash.LogReadProcess(log_num, start_page, end_page,
sizeof(log_structure)/sizeof(log_structure[0]),
log_structure, cliSerial);
log_structure,
print_flight_mode,
cliSerial);
}
// start a new log

2
ArduCopter/setup.pde
View File

@ -1249,7 +1249,7 @@ static void
print_switch(uint8_t p, uint8_t m, bool b)
{
cliSerial->printf_P(PSTR("Pos %d:\t"),p);
print_flight_mode(m);
print_flight_mode(cliSerial, m);
cliSerial->printf_P(PSTR(",\t\tSimple: "));
if(b)
cliSerial->printf_P(PSTR("ON\n"));

30
ArduCopter/system.pde
View File

@ -619,50 +619,50 @@ static void reboot_apm(void) {
// print_flight_mode - prints flight mode to serial port.
//
static void
print_flight_mode(uint8_t mode)
print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode)
{
switch (mode) {
case STABILIZE:
cliSerial->print_P(PSTR("STABILIZE"));
port->print_P(PSTR("STABILIZE"));
break;
case ACRO:
cliSerial->print_P(PSTR("ACRO"));
port->print_P(PSTR("ACRO"));
break;
case ALT_HOLD:
cliSerial->print_P(PSTR("ALT_HOLD"));
port->print_P(PSTR("ALT_HOLD"));
break;
case AUTO:
cliSerial->print_P(PSTR("AUTO"));
port->print_P(PSTR("AUTO"));
break;
case GUIDED:
cliSerial->print_P(PSTR("GUIDED"));
port->print_P(PSTR("GUIDED"));
break;
case LOITER:
cliSerial->print_P(PSTR("LOITER"));
port->print_P(PSTR("LOITER"));
break;
case RTL:
cliSerial->print_P(PSTR("RTL"));
port->print_P(PSTR("RTL"));
break;
case CIRCLE:
cliSerial->print_P(PSTR("CIRCLE"));
port->print_P(PSTR("CIRCLE"));
break;
case POSITION:
cliSerial->print_P(PSTR("POSITION"));
port->print_P(PSTR("POSITION"));
break;
case LAND:
cliSerial->print_P(PSTR("LAND"));
port->print_P(PSTR("LAND"));
break;
case OF_LOITER:
cliSerial->print_P(PSTR("OF_LOITER"));
port->print_P(PSTR("OF_LOITER"));
break;
case TOY_M:
cliSerial->print_P(PSTR("TOY_M"));
port->print_P(PSTR("TOY_M"));
break;
case TOY_A:
cliSerial->print_P(PSTR("TOY_A"));
port->print_P(PSTR("TOY_A"));
break;
default:
cliSerial->print_P(PSTR("---"));
port->printf_P(PSTR("Mode(%u)"), (unsigned)mode);
break;
}
}