mirror of https://github.com/ArduPilot/ardupilot
RangeFinder: Add up to 10 RangeFinder logs
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@ -801,12 +801,10 @@ struct PACKED log_Mode {
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struct PACKED log_RFND {
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struct PACKED log_RFND {
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LOG_PACKET_HEADER;
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint64_t time_us;
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uint16_t dist1;
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uint8_t instance;
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uint8_t status1;
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uint16_t dist;
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uint8_t orient1;
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uint8_t status;
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uint16_t dist2;
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uint8_t orient;
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uint8_t status2;
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uint8_t orient2;
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};
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};
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/*
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/*
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@ -1329,7 +1327,7 @@ struct PACKED log_Arm_Disarm {
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{ LOG_MODE_MSG, sizeof(log_Mode), \
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{ LOG_MODE_MSG, sizeof(log_Mode), \
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"MODE", "QMBB", "TimeUS,Mode,ModeNum,Rsn", "s---", "F---" }, \
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"MODE", "QMBB", "TimeUS,Mode,ModeNum,Rsn", "s---", "F---" }, \
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{ LOG_RFND_MSG, sizeof(log_RFND), \
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{ LOG_RFND_MSG, sizeof(log_RFND), \
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"RFND", "QCBBCBB", "TimeUS,Dist1,Stat1,Orient1,Dist2,Stat2,Orient2", "sm--m--", "FB--B--" }, \
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"RFND", "QBCBB", "TimeUS,Instance,Dist,Stat,Orient", "s#m--", "F-B--" }, \
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{ LOG_MAV_STATS, sizeof(log_MAV_Stats), \
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{ LOG_MAV_STATS, sizeof(log_MAV_Stats), \
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"DMS", "IIIIIBBBBBBBBB", "TimeMS,N,Dp,RT,RS,Fa,Fmn,Fmx,Pa,Pmn,Pmx,Sa,Smn,Smx", "s-------------", "C-------------" }, \
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"DMS", "IIIIIBBBBBBBBB", "TimeMS,N,Dp,RT,RS,Fa,Fmn,Fmx,Pa,Pmn,Pmx,Sa,Smn,Smx", "s-------------", "C-------------" }, \
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{ LOG_BEACON_MSG, sizeof(log_Beacon), \
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{ LOG_BEACON_MSG, sizeof(log_Beacon), \
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@ -675,23 +675,22 @@ void RangeFinder::Log_RFND()
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return;
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return;
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}
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}
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const AP_RangeFinder_Backend *s0 = get_backend(0);
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for (uint8_t i=0; i<RANGEFINDER_MAX_INSTANCES; i++) {
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const AP_RangeFinder_Backend *s1 = get_backend(1);
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const AP_RangeFinder_Backend *s = get_backend(i);
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if (s0 == nullptr && s1 == nullptr) {
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if (s == nullptr) {
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return;
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continue;
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}
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}
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struct log_RFND pkt = {
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const struct log_RFND pkt = {
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LOG_PACKET_HEADER_INIT((uint8_t)(LOG_RFND_MSG)),
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LOG_PACKET_HEADER_INIT(LOG_RFND_MSG),
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time_us : AP_HAL::micros64(),
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time_us : AP_HAL::micros64(),
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dist1 : s0 ? s0->distance_cm() : (uint16_t)0,
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instance : i,
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status1 : s0 ? (uint8_t)s0->status() : (uint8_t)0,
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dist : s->distance_cm(),
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orient1 : s0 ? s0->orientation() : ROTATION_NONE,
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status : (uint8_t)s->status(),
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dist2 : s1 ? s1->distance_cm() : (uint16_t)0,
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orient : s->orientation(),
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status2 : s1 ? (uint8_t)s1->status() : (uint8_t)0,
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};
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orient2 : s1 ? s1->orientation() : ROTATION_NONE,
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AP::logger().WriteBlock(&pkt, sizeof(pkt));
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};
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}
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AP::logger().WriteBlock(&pkt, sizeof(pkt));
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}
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}
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RangeFinder *RangeFinder::_singleton;
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RangeFinder *RangeFinder::_singleton;
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