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Copter: replace Log_Write_Motors with Log_Write_RCOU

This commit is contained in:
Randy Mackay 2013-11-27 20:17:16 +09:00
parent 45ab18f131
commit 10d6a9a34e
4 changed files with 8 additions and 81 deletions
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4
ArduCopter/ArduCopter.pde
View File

@ -1153,8 +1153,8 @@ static void ten_hz_logging_loop()
if (g.log_bitmask & MASK_LOG_RCIN) { if (g.log_bitmask & MASK_LOG_RCIN) {
DataFlash.Log_Write_RCIN(); DataFlash.Log_Write_RCIN();
} }
if (g.log_bitmask & MASK_LOG_MOTORS) { if (g.log_bitmask & MASK_LOG_RCOUT) {
Log_Write_Motors(); DataFlash.Log_Write_RCOUT();
} }
} }
} }

76
ArduCopter/Log.pde
View File

@ -44,7 +44,7 @@ print_log_menu(void)
if (g.log_bitmask & MASK_LOG_IMU) cliSerial->printf_P(PSTR(" IMU")); if (g.log_bitmask & MASK_LOG_IMU) cliSerial->printf_P(PSTR(" IMU"));
if (g.log_bitmask & MASK_LOG_CMD) cliSerial->printf_P(PSTR(" CMD")); if (g.log_bitmask & MASK_LOG_CMD) cliSerial->printf_P(PSTR(" CMD"));
if (g.log_bitmask & MASK_LOG_CURRENT) cliSerial->printf_P(PSTR(" CURRENT")); if (g.log_bitmask & MASK_LOG_CURRENT) cliSerial->printf_P(PSTR(" CURRENT"));
if (g.log_bitmask & MASK_LOG_MOTORS) cliSerial->printf_P(PSTR(" MOTORS")); if (g.log_bitmask & MASK_LOG_RCOUT) cliSerial->printf_P(PSTR(" RCOUT"));
if (g.log_bitmask & MASK_LOG_OPTFLOW) cliSerial->printf_P(PSTR(" OPTFLOW")); if (g.log_bitmask & MASK_LOG_OPTFLOW) cliSerial->printf_P(PSTR(" OPTFLOW"));
if (g.log_bitmask & MASK_LOG_PID) cliSerial->printf_P(PSTR(" PID")); if (g.log_bitmask & MASK_LOG_PID) cliSerial->printf_P(PSTR(" PID"));
if (g.log_bitmask & MASK_LOG_COMPASS) cliSerial->printf_P(PSTR(" COMPASS")); if (g.log_bitmask & MASK_LOG_COMPASS) cliSerial->printf_P(PSTR(" COMPASS"));
@ -136,7 +136,7 @@ select_logs(uint8_t argc, const Menu::arg *argv)
TARG(IMU); TARG(IMU);
TARG(CMD); TARG(CMD);
TARG(CURRENT); TARG(CURRENT);
TARG(MOTORS); TARG(RCOUT);
TARG(OPTFLOW); TARG(OPTFLOW);
TARG(PID); TARG(PID);
TARG(COMPASS); TARG(COMPASS);
@ -232,62 +232,6 @@ static void Log_Write_Current()
DataFlash.WriteBlock(&pkt, sizeof(pkt)); DataFlash.WriteBlock(&pkt, sizeof(pkt));
} }
struct PACKED log_Motors {
LOG_PACKET_HEADER;
#if FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME
int16_t motor_out[8];
#elif FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME
int16_t motor_out[6];
#elif FRAME_CONFIG == HELI_FRAME
int16_t motor_out[6];
#else // quads & TRI_FRAME
int16_t motor_out[4];
#endif
};
// Write an Motors packet
static void Log_Write_Motors()
{
struct log_Motors pkt = {
LOG_PACKET_HEADER_INIT(LOG_MOTORS_MSG),
#if FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME
motor_out : {motors.motor_out[AP_MOTORS_MOT_1],
motors.motor_out[AP_MOTORS_MOT_2],
motors.motor_out[AP_MOTORS_MOT_3],
motors.motor_out[AP_MOTORS_MOT_4],
motors.motor_out[AP_MOTORS_MOT_5],
motors.motor_out[AP_MOTORS_MOT_6],
motors.motor_out[AP_MOTORS_MOT_7],
motors.motor_out[AP_MOTORS_MOT_8]}
#elif FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME
motor_out : {motors.motor_out[AP_MOTORS_MOT_1],
motors.motor_out[AP_MOTORS_MOT_2],
motors.motor_out[AP_MOTORS_MOT_3],
motors.motor_out[AP_MOTORS_MOT_4],
motors.motor_out[AP_MOTORS_MOT_5],
motors.motor_out[AP_MOTORS_MOT_6]}
#elif FRAME_CONFIG == HELI_FRAME
motor_out : {motors.motor_out[AP_MOTORS_MOT_1],
motors.motor_out[AP_MOTORS_MOT_2],
motors.motor_out[AP_MOTORS_MOT_3],
motors.motor_out[AP_MOTORS_MOT_4],
motors.motor_out[AP_MOTORS_MOT_7],
motors.motor_out[AP_MOTORS_MOT_8]}
#elif FRAME_CONFIG == TRI_FRAME
motor_out : {motors.motor_out[AP_MOTORS_MOT_1],
motors.motor_out[AP_MOTORS_MOT_2],
motors.motor_out[AP_MOTORS_MOT_4],
g.rc_4.radio_out}
#else // QUAD frame
motor_out : {motors.motor_out[AP_MOTORS_MOT_1],
motors.motor_out[AP_MOTORS_MOT_2],
motors.motor_out[AP_MOTORS_MOT_3],
motors.motor_out[AP_MOTORS_MOT_4]}
#endif
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Optflow { struct PACKED log_Optflow {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
int16_t dx; int16_t dx;
@ -773,21 +717,6 @@ static const struct LogStructure log_structure[] PROGMEM = {
#endif #endif
{ LOG_CURRENT_MSG, sizeof(log_Current), { LOG_CURRENT_MSG, sizeof(log_Current),
"CURR", "hIhhhf", "ThrOut,ThrInt,Volt,Curr,Vcc,CurrTot" }, "CURR", "hIhhhf", "ThrOut,ThrInt,Volt,Curr,Vcc,CurrTot" },
#if FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME
{ LOG_MOTORS_MSG, sizeof(log_Motors),
"MOT", "hhhhhhhh", "Mot1,Mot2,Mot3,Mot4,Mot5,Mot6,Mot7,Mot8" },
#elif FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME
{ LOG_MOTORS_MSG, sizeof(log_Motors),
"MOT", "hhhhhh", "Mot1,Mot2,Mot3,Mot4,Mot5,Mot6" },
#elif FRAME_CONFIG == HELI_FRAME
{ LOG_MOTORS_MSG, sizeof(log_Motors),
"MOT", "hhhhh", "Mot1,Mot2,Mot3,Mot4,GGain" },
#else
{ LOG_MOTORS_MSG, sizeof(log_Motors),
"MOT", "hhhh", "Mot1,Mot2,Mot3,Mot4" },
#endif
{ LOG_OPTFLOW_MSG, sizeof(log_Optflow), { LOG_OPTFLOW_MSG, sizeof(log_Optflow),
"OF", "hhBccffee", "Dx,Dy,SQual,X,Y,Lat,Lng,Roll,Pitch" }, "OF", "hhBccffee", "Dx,Dy,SQual,X,Y,Lat,Lng,Roll,Pitch" },
{ LOG_NAV_TUNING_MSG, sizeof(log_Nav_Tuning), { LOG_NAV_TUNING_MSG, sizeof(log_Nav_Tuning),
@ -888,7 +817,6 @@ static void Log_Write_Event(uint8_t id){}
static void Log_Write_Optflow() {} static void Log_Write_Optflow() {}
static void Log_Write_Nav_Tuning() {} static void Log_Write_Nav_Tuning() {}
static void Log_Write_Control_Tuning() {} static void Log_Write_Control_Tuning() {}
static void Log_Write_Motors() {}
static void Log_Write_Performance() {} static void Log_Write_Performance() {}
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) {} 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) {}
static void Log_Write_Camera() {} static void Log_Write_Camera() {}

6
ArduCopter/config.h
View File

@ -1007,8 +1007,8 @@
# define LOG_CURRENT ENABLED # define LOG_CURRENT ENABLED
#endif #endif
// quad motor PWMs // quad motor PWMs
#ifndef LOG_MOTORS #ifndef LOG_RCOUT
# define LOG_MOTORS DISABLED # define LOG_RCOUT DISABLED
#endif #endif
// optical flow // optical flow
#ifndef LOG_OPTFLOW #ifndef LOG_OPTFLOW
@ -1041,7 +1041,7 @@
LOGBIT(IMU) | \ LOGBIT(IMU) | \
LOGBIT(CMD) | \ LOGBIT(CMD) | \
LOGBIT(CURRENT) | \ LOGBIT(CURRENT) | \
LOGBIT(MOTORS) | \ LOGBIT(RCOUT) | \
LOGBIT(OPTFLOW) | \ LOGBIT(OPTFLOW) | \
LOGBIT(PID) | \ LOGBIT(PID) | \
LOGBIT(COMPASS) | \ LOGBIT(COMPASS) | \

3
ArduCopter/defines.h
View File

@ -279,7 +279,6 @@ enum ap_message {
#define LOG_CMD_MSG 0x08 #define LOG_CMD_MSG 0x08
#define LOG_CURRENT_MSG 0x09 #define LOG_CURRENT_MSG 0x09
#define LOG_STARTUP_MSG 0x0A #define LOG_STARTUP_MSG 0x0A
#define LOG_MOTORS_MSG 0x0B
#define LOG_OPTFLOW_MSG 0x0C #define LOG_OPTFLOW_MSG 0x0C
#define LOG_EVENT_MSG 0x0D #define LOG_EVENT_MSG 0x0D
#define LOG_PID_MSG 0x0E #define LOG_PID_MSG 0x0E
@ -307,7 +306,7 @@ enum ap_message {
#define MASK_LOG_IMU (1<<7) #define MASK_LOG_IMU (1<<7)
#define MASK_LOG_CMD (1<<8) #define MASK_LOG_CMD (1<<8)
#define MASK_LOG_CURRENT (1<<9) #define MASK_LOG_CURRENT (1<<9)
#define MASK_LOG_MOTORS (1<<10) #define MASK_LOG_RCOUT (1<<10)
#define MASK_LOG_OPTFLOW (1<<11) #define MASK_LOG_OPTFLOW (1<<11)
#define MASK_LOG_PID (1<<12) #define MASK_LOG_PID (1<<12)
#define MASK_LOG_COMPASS (1<<13) #define MASK_LOG_COMPASS (1<<13)