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Rover: DPTH message logs water temperature

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Randy Mackay 2021-04-13 17:07:34 +09:00 committed by Andrew Tridgell
parent fee30b4447
commit 09718a0f11
1 changed files with 11 additions and 3 deletions
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14
Rover/Log.cpp
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@ -57,19 +57,27 @@ void Rover::Log_Write_Depth()
}
rangefinder_last_reading_ms = reading_ms;
// get temperature
float temp_C;
if (!rangefinder.get_temp(ROTATION_PITCH_270, temp_C)) {
temp_C = 0.0f;
}
// @LoggerMessage: DPTH
// @Description: Depth messages on boats with downwards facing range finder
// @Field: TimeUS: Time since system startup
// @Field: Lat: Latitude
// @Field: Lng: Longitude
// @Field: Depth: Depth as detected by the sensor
// @Field: Temp: Temperature
logger.Write("DPTH", "TimeUS,Lat,Lng,Depth",
"sDUm", "FGG0", "QLLf",
logger.Write("DPTH", "TimeUS,Lat,Lng,Depth,Temp",
"sDUmO", "FGG00", "QLLff",
AP_HAL::micros64(),
loc.lat,
loc.lng,
(double)(rangefinder.distance_cm_orient(ROTATION_PITCH_270) * 0.01f));
(double)(rangefinder.distance_cm_orient(ROTATION_PITCH_270) * 0.01f),
temp_C);
}
// guided mode logging