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DataFlash: include sample count in ISBH

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Peter Barker 2017-10-11 10:36:04 +11:00 committed by Andrew Tridgell
parent b997f445ff
commit 191e457230
3 changed files with 6 additions and 2 deletions
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2
libraries/DataFlash/DataFlash.cpp
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@ -711,6 +711,7 @@ bool DataFlash_Class::Log_Write_ISBH(const uint16_t seqno,
const AP_InertialSensor::IMU_SENSOR_TYPE sensor_type, const AP_InertialSensor::IMU_SENSOR_TYPE sensor_type,
const uint8_t sensor_instance, const uint8_t sensor_instance,
const uint16_t multiplier, const uint16_t multiplier,
const uint16_t sample_count,
const uint64_t sample_us, const uint64_t sample_us,
const float sample_rate_hz) const float sample_rate_hz)
{ {
@ -724,6 +725,7 @@ bool DataFlash_Class::Log_Write_ISBH(const uint16_t seqno,
sensor_type : (uint8_t)sensor_type, sensor_type : (uint8_t)sensor_type,
instance : sensor_instance, instance : sensor_instance,
multiplier : multiplier, multiplier : multiplier,
sample_count : sample_count,
sample_us : sample_us, sample_us : sample_us,
sample_rate_hz : sample_rate_hz, sample_rate_hz : sample_rate_hz,
}; };

1
libraries/DataFlash/DataFlash.h
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@ -112,6 +112,7 @@ public:
AP_InertialSensor::IMU_SENSOR_TYPE sensor_type, AP_InertialSensor::IMU_SENSOR_TYPE sensor_type,
uint8_t instance, uint8_t instance,
uint16_t multiplier, uint16_t multiplier,
uint16_t sample_count,
uint64_t sample_us, uint64_t sample_us,
float sample_rate_hz); float sample_rate_hz);
bool Log_Write_ISBD(uint16_t isb_seqno, bool Log_Write_ISBD(uint16_t isb_seqno,

5
libraries/DataFlash/LogStructure.h
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@ -114,6 +114,7 @@ struct PACKED log_ISBH {
uint8_t sensor_type; // e.g. GYRO or ACCEL uint8_t sensor_type; // e.g. GYRO or ACCEL
uint8_t instance; uint8_t instance;
uint16_t multiplier; uint16_t multiplier;
uint16_t sample_count;
uint64_t sample_us; uint64_t sample_us;
float sample_rate_hz; float sample_rate_hz;
}; };
@ -965,8 +966,8 @@ struct PACKED log_DSTL {
#define IMT_LABELS "TimeUS,DelT,DelvT,DelaT,DelAX,DelAY,DelAZ,DelVX,DelVY,DelVZ" #define IMT_LABELS "TimeUS,DelT,DelvT,DelaT,DelAX,DelAY,DelAZ,DelVX,DelVY,DelVZ"
#define IMT_FMT "Qfffffffff" #define IMT_FMT "Qfffffffff"
#define ISBH_LABELS "TimeUS,N,type,instance,mul,SampleUS,smp_rate" #define ISBH_LABELS "TimeUS,N,type,instance,mul,smp_cnt,SampleUS,smp_rate"
#define ISBH_FMT "QHBBHQf" #define ISBH_FMT "QHBBHHQf"
#define ISBD_LABELS "TimeUS,N,seqno,x,y,z" #define ISBD_LABELS "TimeUS,N,seqno,x,y,z"
#define ISBD_FMT "QHHaaa" #define ISBD_FMT "QHHaaa"