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https://github.com/ArduPilot/ardupilot
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DataFlash: added RPM logging
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parent
2cf93e828d
commit
10b8192463
libraries/DataFlash
@ -17,6 +17,7 @@
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#include <AP_Mission/AP_Mission.h>
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#include "../AP_Airspeed/AP_Airspeed.h"
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#include "../AP_BattMonitor/AP_BattMonitor.h"
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#include "../AP_RPM/AP_RPM.h"
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#include <stdint.h>
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#include "DataFlash_Backend.h"
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@ -96,6 +97,7 @@ public:
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void Log_Write_Mission_Cmd(const AP_Mission &mission,
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const AP_Mission::Mission_Command &cmd);
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void Log_Write_Origin(uint8_t origin_type, const Location &loc);
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void Log_Write_RPM(const AP_RPM &rpm_sensor);
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// This structure provides information on the internal member data of a PID for logging purposes
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struct PID_Info {
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@ -600,6 +602,13 @@ struct PACKED log_ORGN {
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int32_t altitude;
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};
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struct PACKED log_RPM {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float rpm1;
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float rpm2;
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};
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/*
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Format characters in the format string for binary log messages
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b : int8_t
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@ -751,7 +760,9 @@ Format characters in the format string for binary log messages
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{ LOG_IMUDT3_MSG, sizeof(log_IMUDT), \
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"IMT3","Qffffffff","TimeUS,DelT,DelvT,DelAX,DelAY,DelAZ,DelVX,DelVY,DelVZ" }, \
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{ LOG_ORGN_MSG, sizeof(log_ORGN), \
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"ORGN","QBLLe","TimeUS,Type,Lat,Lng,Alt" }
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"ORGN","QBLLe","TimeUS,Type,Lat,Lng,Alt" }, \
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{ LOG_RPM_MSG, sizeof(log_RPM), \
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"RPM", "Qff", "TimeUS,rpm1,rpm2" }
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#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
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#define LOG_COMMON_STRUCTURES LOG_BASE_STRUCTURES, LOG_EXTRA_STRUCTURES
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@ -825,7 +836,8 @@ enum LogMessages {
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LOG_IMUDT_MSG,
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LOG_IMUDT2_MSG,
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LOG_IMUDT3_MSG,
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LOG_ORGN_MSG
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LOG_ORGN_MSG,
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LOG_RPM_MSG
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};
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enum LogOriginType {
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@ -1493,3 +1493,14 @@ void DataFlash_Class::Log_Write_Origin(uint8_t origin_type, const Location &loc)
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};
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WriteBlock(&pkt, sizeof(pkt));
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}
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void DataFlash_Class::Log_Write_RPM(const AP_RPM &rpm_sensor)
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{
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struct log_RPM pkt = {
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LOG_PACKET_HEADER_INIT(LOG_RPM_MSG),
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time_us : hal.scheduler->micros64(),
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rpm1 : rpm_sensor.get_rpm(0),
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rpm2 : rpm_sensor.get_rpm(1)
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};
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WriteBlock(&pkt, sizeof(pkt));
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}
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