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Copter: add TimeMS, InavAlt to CTUN df msg

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This commit is contained in:
Randy Mackay 2014-01-13 21:31:43 +09:00
parent 97b18314ac
commit 1e8a79eeaf
1 changed files with 21 additions and 18 deletions
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39
ArduCopter/Log.pde
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@ -137,7 +137,6 @@ select_logs(uint8_t argc, const Menu::arg *argv)
TARG(CURRENT);
TARG(RCOUT);
TARG(OPTFLOW);
TARG(PID);
TARG(COMPASS);
TARG(INAV);
TARG(CAMERA);
@ -303,15 +302,17 @@ static void Log_Write_Nav_Tuning()
struct PACKED log_Control_Tuning {
LOG_PACKET_HEADER;
int16_t throttle_in;
int16_t sonar_alt;
int32_t baro_alt;
float next_wp_alt;
int16_t desired_sonar_alt;
int16_t angle_boost;
int16_t climb_rate;
int16_t throttle_out;
int16_t desired_climb_rate;
uint32_t time_ms;
int16_t throttle_in;
int16_t angle_boost;
int16_t throttle_out;
float desired_alt;
float inav_alt;
int32_t baro_alt;
int16_t desired_sonar_alt;
int16_t sonar_alt;
int16_t desired_climb_rate;
int16_t climb_rate;
};
// Write a control tuning packet
@ -319,15 +320,17 @@ static void Log_Write_Control_Tuning()
{
struct log_Control_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_CONTROL_TUNING_MSG),
time_ms : hal.scheduler->millis(),
throttle_in : g.rc_3.control_in,
sonar_alt : sonar_alt,
baro_alt : baro_alt,
next_wp_alt : get_target_alt_for_reporting() / 100.0f,
desired_sonar_alt : (int16_t)target_sonar_alt,
angle_boost : angle_boost,
climb_rate : climb_rate,
throttle_out : g.rc_3.servo_out,
desired_climb_rate : desired_climb_rate
desired_alt : get_target_alt_for_reporting() / 100.0f,
inav_alt : current_loc.alt / 100.0f,
baro_alt : baro_alt,
desired_sonar_alt : (int16_t)target_sonar_alt,
sonar_alt : sonar_alt,
desired_climb_rate : desired_climb_rate,
climb_rate : climb_rate
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
@ -715,8 +718,8 @@ static const struct LogStructure log_structure[] PROGMEM = {
"OF", "hhBccee", "Dx,Dy,SQual,X,Y,Roll,Pitch" },
{ LOG_NAV_TUNING_MSG, sizeof(log_Nav_Tuning),
"NTUN", "Ecffffffffee", "WPDst,WPBrg,PErX,PErY,DVelX,DVelY,VelX,VelY,DAcX,DAcY,DRol,DPit" },
{ LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning),
"CTUN", "hcefchhhh", "ThrIn,SonAlt,BarAlt,WPAlt,DesSonAlt,AngBst,CRate,ThrOut,DCRate" },
{ LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning),
"CTUN", "Ihhhffecchh", "TimeMS,ThrIn,AngBst,ThrOut,DAlt,Alt,BarAlt,DSAlt,SAlt,DCRt,CRt" },
{ LOG_COMPASS_MSG, sizeof(log_Compass),
"MAG", "Ihhhhhhhhh", "TimeMS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ" },
{ LOG_COMPASS2_MSG, sizeof(log_Compass),