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DataFlash: Add common-vehicle Mode logging method. 

Conflicts:
	libraries/DataFlash/DataFlash.h
This commit is contained in:
Robert Lefebvre 2014-12-22 15:10:02 -05:00 committed by Randy Mackay
parent 422970a1b1
commit 2657610373
2 changed files with 24 additions and 1 deletions
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13
libraries/DataFlash/DataFlash.h
View File

@ -85,6 +85,7 @@ public:
void Log_Write_Attitude(AP_AHRS &ahrs, Vector3f targets); void Log_Write_Attitude(AP_AHRS &ahrs, Vector3f targets);
void Log_Write_Current(AP_BattMonitor battery, int16_t throttle); void Log_Write_Current(AP_BattMonitor battery, int16_t throttle);
void Log_Write_Compass(const Compass &compass, uint8_t instance); void Log_Write_Compass(const Compass &compass, uint8_t instance);
void Log_Write_Mode(uint8_t mode);
bool logging_started(void) const { return log_write_started; } bool logging_started(void) const { return log_write_started; }
@ -429,6 +430,13 @@ struct PACKED log_Compass {
int16_t motor_offset_z; int16_t motor_offset_z;
}; };
struct PACKED log_Mode {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint8_t mode;
uint8_t mode_num;
};
/* /*
terrain log structure terrain log structure
*/ */
@ -555,7 +563,9 @@ Format characters in the format string for binary log messages
{ LOG_COMPASS2_MSG, sizeof(log_Compass), \ { LOG_COMPASS2_MSG, sizeof(log_Compass), \
"MAG2","Ihhhhhhhhh", "TimeMS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ" },\ "MAG2","Ihhhhhhhhh", "TimeMS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ" },\
{ LOG_COMPASS3_MSG, sizeof(log_Compass), \ { LOG_COMPASS3_MSG, sizeof(log_Compass), \
"MAG3","Ihhhhhhhhh", "TimeMS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ" } "MAG3","Ihhhhhhhhh", "TimeMS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ" },\
{ LOG_MODE_MSG, sizeof(log_Mode), \
"MODE", "IMB", "TimeMS,Mode,ModeNum" }
// messages for more advanced boards // messages for more advanced boards
#define LOG_EXTRA_STRUCTURES \ #define LOG_EXTRA_STRUCTURES \
@ -655,6 +665,7 @@ Format characters in the format string for binary log messages
#define LOG_COMPASS_MSG 166 #define LOG_COMPASS_MSG 166
#define LOG_COMPASS2_MSG 167 #define LOG_COMPASS2_MSG 167
#define LOG_COMPASS3_MSG 168 #define LOG_COMPASS3_MSG 168
#define LOG_MODE_MSG 169
// message types 200 to 210 reversed for GPS driver use // message types 200 to 210 reversed for GPS driver use
// message types 211 to 220 reversed for autotune use // message types 211 to 220 reversed for autotune use

12
libraries/DataFlash/LogFile.cpp
View File

@ -1184,6 +1184,18 @@ void DataFlash_Class::Log_Write_Compass(const Compass &compass, uint8_t instance
WriteBlock(&pkt, sizeof(pkt)); WriteBlock(&pkt, sizeof(pkt));
} }
// Write a mode packet.
void DataFlash_Class::Log_Write_Mode(uint8_t mode)
{
struct log_Mode pkt = {
LOG_PACKET_HEADER_INIT(LOG_MODE_MSG),
time_ms : hal.scheduler->millis(),
mode : mode,
mode_num : mode
};
WriteBlock(&pkt, sizeof(pkt));
}
// Write ESC status messages // Write ESC status messages
void DataFlash_Class::Log_Write_ESC(void) void DataFlash_Class::Log_Write_ESC(void)
{ {