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Copter: log ground distance from optflow sensor

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This commit is contained in:
Randy Mackay 2014-07-18 22:25:55 +09:00
parent ec4581b35a
commit 28876b7ef6
1 changed files with 4 additions and 2 deletions
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6
ArduCopter/Log.pde
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@ -245,6 +245,7 @@ struct PACKED log_Optflow {
int16_t raw_y;
float vel_x;
float vel_y;
float dist;
};
// Write an optical flow packet
@ -264,7 +265,8 @@ static void Log_Write_Optflow()
raw_x : raw.x,
raw_y : raw.y,
vel_x : vel.x,
vel_y : vel.y
vel_y : vel.y,
dist : optflow.ground_distance_m()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
#endif // OPTFLOW == ENABLED
@ -670,7 +672,7 @@ static const struct LogStructure log_structure[] PROGMEM = {
{ LOG_CURRENT_MSG, sizeof(log_Current),
"CURR", "IhIhhhf", "TimeMS,ThrOut,ThrInt,Volt,Curr,Vcc,CurrTot" },
{ LOG_OPTFLOW_MSG, sizeof(log_Optflow),
"OF", "IBhhff", "TimeMS,Qual,RawX,RawY,VelX,VelY" },
"OF", "IBhhfff", "TimeMS,Qual,RawX,RawY,VelX,VelY,Dist" },
{ LOG_NAV_TUNING_MSG, sizeof(log_Nav_Tuning),
"NTUN", "Iffffffffff", "TimeMS,DPosX,DPosY,PosX,PosY,DVelX,DVelY,VelX,VelY,DAccX,DAccY" },
{ LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning),