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Plane: added AETR log message

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this makes debugging mixers much easier
This commit is contained in:
Andrew Tridgell 2017-07-06 15:56:13 +10:00
parent 8e6fa0a707
commit 0ebc7b5122
3 changed files with 31 additions and 0 deletions
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29
ArduPlane/Log.cpp
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@ -439,6 +439,32 @@ void Plane::Log_Arm_Disarm() {
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt)); DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
} }
struct PACKED log_AETR {
LOG_PACKET_HEADER;
uint64_t time_us;
int16_t aileron;
int16_t elevator;
int16_t throttle;
int16_t rudder;
int16_t flap;
};
void Plane::Log_Write_AETR()
{
struct log_AETR pkt = {
LOG_PACKET_HEADER_INIT(LOG_AETR_MSG)
,time_us : AP_HAL::micros64()
,aileron : SRV_Channels::get_output_scaled(SRV_Channel::k_aileron)
,elevator : SRV_Channels::get_output_scaled(SRV_Channel::k_elevator)
,throttle : SRV_Channels::get_output_scaled(SRV_Channel::k_throttle)
,rudder : SRV_Channels::get_output_scaled(SRV_Channel::k_rudder)
,flap : SRV_Channels::get_output_scaled(SRV_Channel::k_flap_auto)
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
void Plane::Log_Write_GPS(uint8_t instance) void Plane::Log_Write_GPS(uint8_t instance)
{ {
if (!ahrs.have_ekf_logging()) { if (!ahrs.have_ekf_logging()) {
@ -458,6 +484,7 @@ void Plane::Log_Write_RC(void)
if (rssi.enabled()) { if (rssi.enabled()) {
DataFlash.Log_Write_RSSI(rssi); DataFlash.Log_Write_RSSI(rssi);
} }
Log_Write_AETR();
} }
void Plane::Log_Write_Baro(void) void Plane::Log_Write_Baro(void)
@ -530,6 +557,8 @@ const struct LogStructure Plane::log_structure[] = {
"PIQY", "Qffffff", "TimeUS,Des,P,I,D,FF,AFF" }, \ "PIQY", "Qffffff", "TimeUS,Des,P,I,D,FF,AFF" }, \
{ LOG_PIQA_MSG, sizeof(log_PID), \ { LOG_PIQA_MSG, sizeof(log_PID), \
"PIQA", "Qffffff", "TimeUS,Des,P,I,D,FF,AFF" }, \ "PIQA", "Qffffff", "TimeUS,Des,P,I,D,FF,AFF" }, \
{ LOG_AETR_MSG, sizeof(log_AETR), \
"AETR", "Qhhhhh", "TimeUS,Ail,Elev,Thr,Rudd,Flap" }, \
}; };
#if CLI_ENABLED == ENABLED #if CLI_ENABLED == ENABLED

1
ArduPlane/Plane.h
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@ -846,6 +846,7 @@ private:
void Log_Write_Home_And_Origin(); void Log_Write_Home_And_Origin();
void Log_Write_Vehicle_Startup_Messages(); void Log_Write_Vehicle_Startup_Messages();
void Log_Write_AOA_SSA(); void Log_Write_AOA_SSA();
void Log_Write_AETR();
void Log_Read(uint16_t log_num, int16_t start_page, int16_t end_page); void Log_Read(uint16_t log_num, int16_t start_page, int16_t end_page);
void load_parameters(void); void load_parameters(void);

1
ArduPlane/defines.h
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@ -146,6 +146,7 @@ enum log_messages {
LOG_PIQP_MSG, LOG_PIQP_MSG,
LOG_PIQY_MSG, LOG_PIQY_MSG,
LOG_PIQA_MSG, LOG_PIQA_MSG,
LOG_AETR_MSG,
}; };
#define MASK_LOG_ATTITUDE_FAST (1<<0) #define MASK_LOG_ATTITUDE_FAST (1<<0)