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Copter: log proximity sensors closest object

This commit is contained in:
Randy Mackay 2016-11-26 11:18:53 +09:00
parent 7485de3498
commit 115bc44d3f
1 changed files with 9 additions and 2 deletions
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11
ArduCopter/Log.cpp
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@ -761,6 +761,8 @@ struct PACKED log_Proximity {
float dist225;
float dist270;
float dist315;
float closest_angle;
float closest_dist;
};
// Write proximity sensor distances
@ -782,6 +784,9 @@ void Copter::Log_Write_Proximity()
g2.proximity.get_horizontal_distance(270, sector_distance[6]);
g2.proximity.get_horizontal_distance(315, sector_distance[7]);
float close_ang = 0.0f, close_dist = 0.0f;
g2.proximity.get_closest_object(close_ang, close_dist);
struct log_Proximity pkt = {
LOG_PACKET_HEADER_INIT(LOG_PROXIMITY_MSG),
time_us : AP_HAL::micros64(),
@ -793,7 +798,9 @@ void Copter::Log_Write_Proximity()
dist180 : sector_distance[4],
dist225 : sector_distance[5],
dist270 : sector_distance[6],
dist315 : sector_distance[7]
dist315 : sector_distance[7],
closest_angle : close_ang,
closest_dist : close_dist
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
#endif
@ -842,7 +849,7 @@ const struct LogStructure Copter::log_structure[] = {
{ LOG_THROW_MSG, sizeof(log_Throw),
"THRO", "QBffffbbbb", "TimeUS,Stage,Vel,VelZ,Acc,AccEfZ,Throw,AttOk,HgtOk,PosOk" },
{ LOG_PROXIMITY_MSG, sizeof(log_Proximity),
"PRX", "QBffffffff", "TimeUS,Health,D0,D45,D90,D135,D180,D225,D270,D315" },
"PRX", "QBffffffffff","TimeUS,Health,D0,D45,D90,D135,D180,D225,D270,D315,CAng,CDist" },
};
#if CLI_ENABLED == ENABLED