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AP_Logger: add error code to Write_OADijkstra

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This commit is contained in:
Randy Mackay 2019-09-07 13:56:51 +09:00
parent a0c6ff95e4
commit 3431938bce
3 changed files with 5 additions and 3 deletions
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2
libraries/AP_Logger/AP_Logger.h
View File

@ -273,7 +273,7 @@ public:
void Write_Proximity(AP_Proximity &proximity);
void Write_SRTL(bool active, uint16_t num_points, uint16_t max_points, uint8_t action, const Vector3f& point);
void Write_OABendyRuler(bool active, float target_yaw, float margin, const Location &final_dest, const Location &oa_dest);
void Write_OADijkstra(uint8_t state, uint8_t curr_point, uint8_t tot_points, const Location &final_dest, const Location &oa_dest);
void Write_OADijkstra(uint8_t state, uint8_t error_id, uint8_t curr_point, uint8_t tot_points, const Location &final_dest, const Location &oa_dest);
void Write(const char *name, const char *labels, const char *fmt, ...);
void Write(const char *name, const char *labels, const char *units, const char *mults, const char *fmt, ...);

3
libraries/AP_Logger/LogFile.cpp
View File

@ -988,12 +988,13 @@ void AP_Logger::Write_OABendyRuler(bool active, float target_yaw, float margin,
WriteBlock(&pkt, sizeof(pkt));
}
void AP_Logger::Write_OADijkstra(uint8_t state, uint8_t curr_point, uint8_t tot_points, const Location &final_dest, const Location &oa_dest)
void AP_Logger::Write_OADijkstra(uint8_t state, uint8_t error_id, uint8_t curr_point, uint8_t tot_points, const Location &final_dest, const Location &oa_dest)
{
struct log_OADijkstra pkt{
LOG_PACKET_HEADER_INIT(LOG_OA_DIJKSTRA_MSG),
time_us : AP_HAL::micros64(),
state : state,
error_id : error_id,
curr_point : curr_point,
tot_points : tot_points,
final_lat : final_dest.lat,

3
libraries/AP_Logger/LogStructure.h
View File

@ -1169,6 +1169,7 @@ struct PACKED log_OADijkstra {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t state;
uint8_t error_id;
uint8_t curr_point;
uint8_t tot_points;
int32_t final_lat;
@ -1395,7 +1396,7 @@ struct PACKED log_Arm_Disarm {
{ LOG_OA_BENDYRULER_MSG, sizeof(log_OABendyRuler), \
"OABR","QBHHfLLLL","TimeUS,Active,DesYaw,Yaw,Mar,DLat,DLng,OALat,OALng", "sbddmDUDU", "F----GGGG" }, \
{ LOG_OA_DIJKSTRA_MSG, sizeof(log_OADijkstra), \
"OADJ","QBBBLLLL","TimeUS,State,CurrPoint,TotPoints,DLat,DLng,OALat,OALng", "sbbbDUDU", "F---GGGG" }
"OADJ","QBBBBLLLL","TimeUS,State,Err,CurrPoint,TotPoints,DLat,DLng,OALat,OALng", "sbbbbDUDU", "F----GGGG" }
// messages for more advanced boards
#define LOG_EXTRA_STRUCTURES \