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AP_DAL: Enable default airspeed variance to be specified externally

This commit is contained in:
Paul Riseborough 2020-11-14 20:50:50 +11:00 committed by Andrew Tridgell
parent 9228925bea
commit 296fb567ca
3 changed files with 9 additions and 6 deletions
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6
libraries/AP_DAL/AP_DAL.cpp
View File

@ -174,11 +174,12 @@ void AP_DAL::log_SetOriginLLH2(const Location &loc)
#endif
}
void AP_DAL::log_writeDefaultAirSpeed2(const float aspeed)
void AP_DAL::log_writeDefaultAirSpeed2(const float aspeed, const float uncertainty)
{
#if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone) && !APM_BUILD_TYPE(APM_BUILD_Replay)
struct log_RWA2 pkt{
airspeed: aspeed,
uncertainty: uncertainty,
};
WRITE_REPLAY_BLOCK(RWA2, pkt);
#endif
@ -207,11 +208,12 @@ void AP_DAL::log_SetOriginLLH3(const Location &loc)
#endif
}
void AP_DAL::log_writeDefaultAirSpeed3(const float aspeed)
void AP_DAL::log_writeDefaultAirSpeed3(const float aspeed, const float uncertainty)
{
#if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone) && !APM_BUILD_TYPE(APM_BUILD_Replay)
struct log_RWA3 pkt{
airspeed: aspeed,
uncertainty: uncertainty
};
WRITE_REPLAY_BLOCK(RWA3, pkt);
#endif

4
libraries/AP_DAL/AP_DAL.h
View File

@ -75,11 +75,11 @@ public:
void log_event2(Event event);
void log_SetOriginLLH2(const Location &loc);
void log_writeDefaultAirSpeed2(float aspeed);
void log_writeDefaultAirSpeed2(const float aspeed, const float uncertainty);
void log_event3(Event event);
void log_SetOriginLLH3(const Location &loc);
void log_writeDefaultAirSpeed3(float aspeed);
void log_writeDefaultAirSpeed3(const float aspeed, const float uncertainty);
void log_writeEulerYawAngle(float yawAngle, float yawAngleErr, uint32_t timeStamp_ms, uint8_t type);
enum class StateMask {

5
libraries/AP_DAL/LogStructure.h
View File

@ -115,6 +115,7 @@ struct log_RSO2 {
// @Description: Replay set-default-airspeed event
struct log_RWA2 {
float airspeed;
float uncertainty;
uint8_t _end;
};
@ -365,13 +366,13 @@ struct log_RBOH {
{ LOG_RSO2_MSG, RLOG_SIZE(RSO2), \
"RSO2", "III", "Lat,Lon,Alt", "DUm", "GGB" }, \
{ LOG_RWA2_MSG, RLOG_SIZE(RWA2), \
"RWA2", "f", "Airspeed", "n", "0" }, \
"RWA2", "ff", "Airspeed,uncertainty", "nn", "00" }, \
{ LOG_REV3_MSG, RLOG_SIZE(REV3), \
"REV3", "B", "Event", "-", "-" }, \
{ LOG_RSO3_MSG, RLOG_SIZE(RSO3), \
"RSO3", "III", "Lat,Lon,Alt", "DUm", "GGB" }, \
{ LOG_RWA3_MSG, RLOG_SIZE(RWA3), \
"RWA3", "f", "Airspeed", "n", "0" }, \
"RWA3", "ff", "Airspeed,Uncertainty", "nn", "00" }, \
{ LOG_REY3_MSG, RLOG_SIZE(REY3), \
"REY3", "ffIB", "yawangle,yawangleerr,timestamp_ms,type", "???-", "???-" }, \
{ LOG_RISH_MSG, RLOG_SIZE(RISH), \