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DataFlash: OpticalFlow takes care of its own logging

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Peter Barker 2018-09-02 22:27:58 +10:00 committed by Andrew Tridgell
parent ac83765487
commit 3eee4e917a
1 changed files with 14 additions and 1 deletions
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15
libraries/DataFlash/LogStructure.h
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@ -337,6 +337,16 @@ struct PACKED log_BARO {
float ground_temp; float ground_temp;
}; };
struct PACKED log_Optflow {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t surface_quality;
float flow_x;
float flow_y;
float body_x;
float body_y;
};
struct PACKED log_AHRS { struct PACKED log_AHRS {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint64_t time_us; uint64_t time_us;
@ -1434,7 +1444,9 @@ Format characters in the format string for binary log messages
{ LOG_RALLY_MSG, sizeof(log_Rally), \ { LOG_RALLY_MSG, sizeof(log_Rally), \
"RALY", "QBBLLh", "TimeUS,Tot,Seq,Lat,Lng,Alt", "s--DUm", "F--GGB" }, \ "RALY", "QBBLLh", "TimeUS,Tot,Seq,Lat,Lng,Alt", "s--DUm", "F--GGB" }, \
{ LOG_VISUALODOM_MSG, sizeof(log_VisualOdom), \ { LOG_VISUALODOM_MSG, sizeof(log_VisualOdom), \
"VISO", "Qffffffff", "TimeUS,dt,AngDX,AngDY,AngDZ,PosDX,PosDY,PosDZ,conf", "ssrrrmmm-", "FF000000-" } "VISO", "Qffffffff", "TimeUS,dt,AngDX,AngDY,AngDZ,PosDX,PosDY,PosDZ,conf", "ssrrrmmm-", "FF000000-" }, \
{ LOG_OPTFLOW_MSG, sizeof(log_Optflow), \
"OF", "QBffff", "TimeUS,Qual,flowX,flowY,bodyX,bodyY", "s-EEEE", "F-0000" }
// #if SBP_HW_LOGGING // #if SBP_HW_LOGGING
@ -1600,6 +1612,7 @@ enum LogMessages : uint8_t {
LOG_ISBD_MSG, LOG_ISBD_MSG,
LOG_ASP2_MSG, LOG_ASP2_MSG,
LOG_PERFORMANCE_MSG, LOG_PERFORMANCE_MSG,
LOG_OPTFLOW_MSG,
_LOG_LAST_MSG_ _LOG_LAST_MSG_
}; };