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Replay: added vehicle class detection

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This commit is contained in:
Andrew Tridgell 2014-04-21 18:11:20 +10:00
parent b1d82b37ff
commit 250deaa32f
3 changed files with 8 additions and 3 deletions
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6
Tools/Replay/LogReader.cpp
View File

@ -18,9 +18,10 @@
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
LogReader::LogReader(AP_InertialSensor &_ins, AP_Baro_HIL &_baro, AP_Compass_HIL &_compass, AP_GPS &_gps, AP_Airspeed &_airspeed) : LogReader::LogReader(AP_AHRS &_ahrs, AP_InertialSensor &_ins, AP_Baro_HIL &_baro, AP_Compass_HIL &_compass, AP_GPS &_gps, AP_Airspeed &_airspeed) :
vehicle(VEHICLE_UNKNOWN), vehicle(VEHICLE_UNKNOWN),
fd(-1), fd(-1),
ahrs(_ahrs),
ins(_ins), ins(_ins),
baro(_baro), baro(_baro),
compass(_compass), compass(_compass),
@ -323,12 +324,15 @@ bool LogReader::update(uint8_t &type)
if (strncmp(msg.msg, "ArduPlane", strlen("ArduPlane")) == 0) { if (strncmp(msg.msg, "ArduPlane", strlen("ArduPlane")) == 0) {
vehicle = VEHICLE_PLANE; vehicle = VEHICLE_PLANE;
::printf("Detected Plane\n"); ::printf("Detected Plane\n");
ahrs.set_vehicle_class(AHRS_VEHICLE_FIXED_WING);
} else if (strncmp(msg.msg, "ArduCopter", strlen("ArduCopter")) == 0) { } else if (strncmp(msg.msg, "ArduCopter", strlen("ArduCopter")) == 0) {
vehicle = VEHICLE_COPTER; vehicle = VEHICLE_COPTER;
::printf("Detected Copter\n"); ::printf("Detected Copter\n");
ahrs.set_vehicle_class(AHRS_VEHICLE_COPTER);
} else if (strncmp(msg.msg, "ArduRover", strlen("ArduRover")) == 0) { } else if (strncmp(msg.msg, "ArduRover", strlen("ArduRover")) == 0) {
vehicle = VEHICLE_ROVER; vehicle = VEHICLE_ROVER;
::printf("Detected Rover\n"); ::printf("Detected Rover\n");
ahrs.set_vehicle_class(AHRS_VEHICLE_GROUND);
} }
break; break;
} }

3
Tools/Replay/LogReader.h
View File

@ -19,7 +19,7 @@ enum log_messages {
class LogReader class LogReader
{ {
public: public:
LogReader(AP_InertialSensor &_ins, AP_Baro_HIL &_baro, AP_Compass_HIL &_compass, AP_GPS &_gps, AP_Airspeed &_airspeed); LogReader(AP_AHRS &_ahrs, AP_InertialSensor &_ins, AP_Baro_HIL &_baro, AP_Compass_HIL &_compass, AP_GPS &_gps, AP_Airspeed &_airspeed);
bool open_log(const char *logfile); bool open_log(const char *logfile);
bool update(uint8_t &type); bool update(uint8_t &type);
bool wait_type(uint8_t type); bool wait_type(uint8_t type);
@ -40,6 +40,7 @@ public:
private: private:
int fd; int fd;
AP_AHRS &ahrs;
AP_InertialSensor &ins; AP_InertialSensor &ins;
AP_Baro_HIL &baro; AP_Baro_HIL &baro;
AP_Compass_HIL &compass; AP_Compass_HIL &compass;

2
Tools/Replay/Replay.pde
View File

@ -73,7 +73,7 @@ SITL sitl;
static const NavEKF &NavEKF = ahrs.get_NavEKF(); static const NavEKF &NavEKF = ahrs.get_NavEKF();
static LogReader LogReader(ins, barometer, compass, gps, airspeed); static LogReader LogReader(ahrs, ins, barometer, compass, gps, airspeed);
static FILE *plotf; static FILE *plotf;
static FILE *plotf2; static FILE *plotf2;