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ArduCopter: Change Current logging to use common-vehicle logging in DataFlash library.

This commit is contained in:
Robert Lefebvre 2014-12-18 16:35:23 -05:00 committed by Randy Mackay
parent 50b5376945
commit 1b152cf2bf
2 changed files with 2 additions and 26 deletions
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27
ArduCopter/Log.pde
View File

@ -207,31 +207,10 @@ static void Log_Write_AutoTuneDetails(int16_t angle_cd, float rate_cds)
} }
#endif #endif
struct PACKED log_Current { // Write a Current data packet
LOG_PACKET_HEADER;
uint32_t time_ms;
int16_t throttle_out;
uint32_t throttle_integrator;
int16_t battery_voltage;
int16_t current_amps;
uint16_t board_voltage;
float current_total;
};
// Write an Current data packet
static void Log_Write_Current() static void Log_Write_Current()
{ {
struct log_Current pkt = { DataFlash.Log_Write_Current(battery, g.rc_3.servo_out);
LOG_PACKET_HEADER_INIT(LOG_CURRENT_MSG),
time_ms : hal.scheduler->millis(),
throttle_out : g.rc_3.servo_out,
throttle_integrator : throttle_integrator,
battery_voltage : (int16_t) (battery.voltage() * 100.0f),
current_amps : (int16_t) (battery.current_amps() * 100.0f),
board_voltage : (uint16_t)(hal.analogin->board_voltage()*1000),
current_total : battery.current_total_mah()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
// also write power status // also write power status
DataFlash.Log_Write_Power(); DataFlash.Log_Write_Power();
@ -651,8 +630,6 @@ static const struct LogStructure log_structure[] PROGMEM = {
{ LOG_AUTOTUNEDETAILS_MSG, sizeof(log_AutoTuneDetails), { LOG_AUTOTUNEDETAILS_MSG, sizeof(log_AutoTuneDetails),
"ATDE", "cf", "Angle,Rate" }, "ATDE", "cf", "Angle,Rate" },
#endif #endif
{ LOG_CURRENT_MSG, sizeof(log_Current),
"CURR", "IhIhhhf", "TimeMS,ThrOut,ThrInt,Volt,Curr,Vcc,CurrTot" },
{ LOG_OPTFLOW_MSG, sizeof(log_Optflow), { LOG_OPTFLOW_MSG, sizeof(log_Optflow),
"OF", "IBffff", "TimeMS,Qual,flowX,flowY,bodyX,bodyY" }, "OF", "IBffff", "TimeMS,Qual,flowX,flowY,bodyX,bodyY" },
{ LOG_NAV_TUNING_MSG, sizeof(log_Nav_Tuning), { LOG_NAV_TUNING_MSG, sizeof(log_Nav_Tuning),

1
ArduCopter/defines.h
View File

@ -222,7 +222,6 @@ enum FlipState {
#define LOG_CONTROL_TUNING_MSG 0x04 #define LOG_CONTROL_TUNING_MSG 0x04
#define LOG_NAV_TUNING_MSG 0x05 #define LOG_NAV_TUNING_MSG 0x05
#define LOG_PERFORMANCE_MSG 0x06 #define LOG_PERFORMANCE_MSG 0x06
#define LOG_CURRENT_MSG 0x09
#define LOG_STARTUP_MSG 0x0A #define LOG_STARTUP_MSG 0x0A
#define LOG_OPTFLOW_MSG 0x0C #define LOG_OPTFLOW_MSG 0x0C
#define LOG_EVENT_MSG 0x0D #define LOG_EVENT_MSG 0x0D