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AP_Logger: log source sysid/compid in MAVC

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For field length purposed had tor remove Current and autocontinue which we don't care about
anyway.
This commit is contained in:
Peter Barker 2021-09-04 16:40:38 +10:00 committed by Andrew Tridgell
parent ec53a41ffd
commit 13a7b60279
3 changed files with 14 additions and 8 deletions
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6
libraries/AP_Logger/AP_Logger.h
View File

@ -317,7 +317,11 @@ public:
void Write_Mode(uint8_t mode, const ModeReason reason); void Write_Mode(uint8_t mode, const ModeReason reason);
void Write_EntireMission(); void Write_EntireMission();
void Write_Command(const mavlink_command_int_t &packet, MAV_RESULT result, bool was_command_long=false); void Write_Command(const mavlink_command_int_t &packet,
uint8_t source_system,
uint8_t source_component,
MAV_RESULT result,
bool was_command_long=false);
void Write_Mission_Cmd(const AP_Mission &mission, void Write_Mission_Cmd(const AP_Mission &mission,
const AP_Mission::Mission_Command &cmd); const AP_Mission::Mission_Command &cmd);
void Write_RPM(const AP_RPM &rpm_sensor); void Write_RPM(const AP_RPM &rpm_sensor);

6
libraries/AP_Logger/LogFile.cpp
View File

@ -217,6 +217,8 @@ void AP_Logger::Write_RSSI()
} }
void AP_Logger::Write_Command(const mavlink_command_int_t &packet, void AP_Logger::Write_Command(const mavlink_command_int_t &packet,
uint8_t source_system,
uint8_t source_component,
const MAV_RESULT result, const MAV_RESULT result,
bool was_command_long) bool was_command_long)
{ {
@ -225,10 +227,10 @@ void AP_Logger::Write_Command(const mavlink_command_int_t &packet,
time_us : AP_HAL::micros64(), time_us : AP_HAL::micros64(),
target_system : packet.target_system, target_system : packet.target_system,
target_component: packet.target_component, target_component: packet.target_component,
source_system : source_system,
source_component: source_component,
frame : packet.frame, frame : packet.frame,
command : packet.command, command : packet.command,
current : packet.current,
autocontinue : packet.autocontinue,
param1 : packet.param1, param1 : packet.param1,
param2 : packet.param2, param2 : packet.param2,
param3 : packet.param3, param3 : packet.param3,

10
libraries/AP_Logger/LogStructure.h
View File

@ -336,10 +336,10 @@ struct PACKED log_MAVLink_Command {
uint64_t time_us; uint64_t time_us;
uint8_t target_system; uint8_t target_system;
uint8_t target_component; uint8_t target_component;
uint8_t source_system;
uint8_t source_component;
uint8_t frame; uint8_t frame;
uint16_t command; uint16_t command;
uint8_t current;
uint8_t autocontinue;
float param1; float param1;
float param2; float param2;
float param3; float param3;
@ -908,10 +908,10 @@ struct PACKED log_PSCZ {
// @Field: TimeUS: Time since system startup // @Field: TimeUS: Time since system startup
// @Field: TS: target system for command // @Field: TS: target system for command
// @Field: TC: target component for command // @Field: TC: target component for command
// @Field: SS: target system for command
// @Field: SC: target component for command
// @Field: Fr: command frame // @Field: Fr: command frame
// @Field: Cmd: mavlink command enum value // @Field: Cmd: mavlink command enum value
// @Field: Cur: current flag from mavlink packet
// @Field: AC: autocontinue flag from mavlink packet
// @Field: P1: first parameter from mavlink packet // @Field: P1: first parameter from mavlink packet
// @Field: P2: second parameter from mavlink packet // @Field: P2: second parameter from mavlink packet
// @Field: P3: third parameter from mavlink packet // @Field: P3: third parameter from mavlink packet
@ -1249,7 +1249,7 @@ LOG_STRUCTURE_FROM_PRECLAND \
{ LOG_CMD_MSG, sizeof(log_Cmd), \ { LOG_CMD_MSG, sizeof(log_Cmd), \
"CMD", "QHHHffffLLfB","TimeUS,CTot,CNum,CId,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt,Frame", "s-------DUm-", "F-------GG0-" }, \ "CMD", "QHHHffffLLfB","TimeUS,CTot,CNum,CId,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt,Frame", "s-------DUm-", "F-------GG0-" }, \
{ LOG_MAVLINK_COMMAND_MSG, sizeof(log_MAVLink_Command), \ { LOG_MAVLINK_COMMAND_MSG, sizeof(log_MAVLink_Command), \
"MAVC", "QBBBHBBffffiifBB","TimeUS,TS,TC,Fr,Cmd,Cur,AC,P1,P2,P3,P4,X,Y,Z,Res,WL", "s---------------", "F---------------" }, \ "MAVC", "QBBBBBHffffiifBB","TimeUS,TS,TC,SS,SC,Fr,Cmd,P1,P2,P3,P4,X,Y,Z,Res,WL", "s---------------", "F---------------" }, \
{ LOG_RADIO_MSG, sizeof(log_Radio), \ { LOG_RADIO_MSG, sizeof(log_Radio), \
"RAD", "QBBBBBHH", "TimeUS,RSSI,RemRSSI,TxBuf,Noise,RemNoise,RxErrors,Fixed", "s-------", "F-------", true }, \ "RAD", "QBBBBBHH", "TimeUS,RSSI,RemRSSI,TxBuf,Noise,RemNoise,RxErrors,Fixed", "s-------", "F-------", true }, \
LOG_STRUCTURE_FROM_CAMERA \ LOG_STRUCTURE_FROM_CAMERA \