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DataFlash: added timestamp to CAM messages

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This commit is contained in:
Andrew Tridgell 2018-05-15 11:04:09 +10:00
parent 8f51bef0f0
commit 19ba2322ac
2 changed files with 7 additions and 7 deletions
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4
libraries/DataFlash/DataFlash.h
View File

@ -124,8 +124,8 @@ public:
void Log_Write_Radio(const mavlink_radio_t &packet);
void Log_Write_Message(const char *message);
void Log_Write_MessageF(const char *fmt, ...);
void Log_Write_CameraInfo(enum LogMessages msg, const AP_AHRS &ahrs, const Location &current_loc);
void Log_Write_Camera(const AP_AHRS &ahrs, const Location &current_loc);
void Log_Write_CameraInfo(enum LogMessages msg, const AP_AHRS &ahrs, const Location &current_loc, uint64_t timestamp_us=0);
void Log_Write_Camera(const AP_AHRS &ahrs, const Location &current_loc, uint64_t timestamp_us=0);
void Log_Write_Trigger(const AP_AHRS &ahrs, const Location &current_loc);
void Log_Write_ESC(void);
void Log_Write_Airspeed(AP_Airspeed &airspeed);

10
libraries/DataFlash/LogFile.cpp
View File

@ -1307,7 +1307,7 @@ void DataFlash_Class::Log_Write_Radio(const mavlink_radio_t &packet)
}
// Write a Camera packet
void DataFlash_Class::Log_Write_CameraInfo(enum LogMessages msg, const AP_AHRS &ahrs, const Location &current_loc)
void DataFlash_Class::Log_Write_CameraInfo(enum LogMessages msg, const AP_AHRS &ahrs, const Location &current_loc, uint64_t timestamp_us)
{
int32_t altitude, altitude_rel, altitude_gps;
if (current_loc.flags.relative_alt) {
@ -1326,7 +1326,7 @@ void DataFlash_Class::Log_Write_CameraInfo(enum LogMessages msg, const AP_AHRS &
struct log_Camera pkt = {
LOG_PACKET_HEADER_INIT(static_cast<uint8_t>(msg)),
time_us : AP_HAL::micros64(),
time_us : timestamp_us?timestamp_us:AP_HAL::micros64(),
gps_time : gps.time_week_ms(),
gps_week : gps.time_week(),
latitude : current_loc.lat,
@ -1342,15 +1342,15 @@ void DataFlash_Class::Log_Write_CameraInfo(enum LogMessages msg, const AP_AHRS &
}
// Write a Camera packet
void DataFlash_Class::Log_Write_Camera(const AP_AHRS &ahrs, const Location &current_loc)
void DataFlash_Class::Log_Write_Camera(const AP_AHRS &ahrs, const Location &current_loc, uint64_t timestamp_us)
{
Log_Write_CameraInfo(LOG_CAMERA_MSG, ahrs, current_loc);
Log_Write_CameraInfo(LOG_CAMERA_MSG, ahrs, current_loc, timestamp_us);
}
// Write a Trigger packet
void DataFlash_Class::Log_Write_Trigger(const AP_AHRS &ahrs, const Location &current_loc)
{
Log_Write_CameraInfo(LOG_TRIGGER_MSG, ahrs, current_loc);
Log_Write_CameraInfo(LOG_TRIGGER_MSG, ahrs, current_loc, 0);
}
// Write an attitude packet