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Arducopter: Change compass logging to use common-vehicle DataFlash library.

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This commit is contained in:
Robert Lefebvre 2014-12-20 14:08:58 -05:00 committed by Randy Mackay
parent 12c3593bc3
commit 422970a1b1
2 changed files with 4 additions and 78 deletions
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79
ArduCopter/Log.pde
View File

@ -325,80 +325,19 @@ static void Log_Write_Control_Tuning()
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Compass {
LOG_PACKET_HEADER;
uint32_t time_ms;
int16_t mag_x;
int16_t mag_y;
int16_t mag_z;
int16_t offset_x;
int16_t offset_y;
int16_t offset_z;
int16_t motor_offset_x;
int16_t motor_offset_y;
int16_t motor_offset_z;
};
// Write a Compass packet
static void Log_Write_Compass()
{
const Vector3f &mag_offsets = compass.get_offsets(0);
const Vector3f &mag_motor_offsets = compass.get_motor_offsets(0);
const Vector3f &mag = compass.get_field(0);
struct log_Compass pkt = {
LOG_PACKET_HEADER_INIT(LOG_COMPASS_MSG),
time_ms : hal.scheduler->millis(),
mag_x : (int16_t)mag.x,
mag_y : (int16_t)mag.y,
mag_z : (int16_t)mag.z,
offset_x : (int16_t)mag_offsets.x,
offset_y : (int16_t)mag_offsets.y,
offset_z : (int16_t)mag_offsets.z,
motor_offset_x : (int16_t)mag_motor_offsets.x,
motor_offset_y : (int16_t)mag_motor_offsets.y,
motor_offset_z : (int16_t)mag_motor_offsets.z
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
DataFlash.Log_Write_Compass(compass, 0);
#if COMPASS_MAX_INSTANCES > 1
if (compass.get_count() > 1) {
const Vector3f &mag2_offsets = compass.get_offsets(1);
const Vector3f &mag2_motor_offsets = compass.get_motor_offsets(1);
const Vector3f &mag2 = compass.get_field(1);
struct log_Compass pkt2 = {
LOG_PACKET_HEADER_INIT(LOG_COMPASS2_MSG),
time_ms : hal.scheduler->millis(),
mag_x : (int16_t)mag2.x,
mag_y : (int16_t)mag2.y,
mag_z : (int16_t)mag2.z,
offset_x : (int16_t)mag2_offsets.x,
offset_y : (int16_t)mag2_offsets.y,
offset_z : (int16_t)mag2_offsets.z,
motor_offset_x : (int16_t)mag2_motor_offsets.x,
motor_offset_y : (int16_t)mag2_motor_offsets.y,
motor_offset_z : (int16_t)mag2_motor_offsets.z
};
DataFlash.WriteBlock(&pkt2, sizeof(pkt2));
DataFlash.Log_Write_Compass(compass, 1);
}
#endif
#if COMPASS_MAX_INSTANCES > 2
if (compass.get_count() > 2) {
const Vector3f &mag3_offsets = compass.get_offsets(2);
const Vector3f &mag3_motor_offsets = compass.get_motor_offsets(2);
const Vector3f &mag3 = compass.get_field(2);
struct log_Compass pkt3 = {
LOG_PACKET_HEADER_INIT(LOG_COMPASS3_MSG),
time_ms : hal.scheduler->millis(),
mag_x : (int16_t)mag3.x,
mag_y : (int16_t)mag3.y,
mag_z : (int16_t)mag3.z,
offset_x : (int16_t)mag3_offsets.x,
offset_y : (int16_t)mag3_offsets.y,
offset_z : (int16_t)mag3_offsets.z,
motor_offset_x : (int16_t)mag3_motor_offsets.x,
motor_offset_y : (int16_t)mag3_motor_offsets.y,
motor_offset_z : (int16_t)mag3_motor_offsets.z
};
DataFlash.WriteBlock(&pkt3, sizeof(pkt3));
DataFlash.Log_Write_Compass(compass, 2);
}
#endif
}
@ -636,16 +575,6 @@ static const struct LogStructure log_structure[] PROGMEM = {
"NTUN", "Iffffffffff", "TimeMS,DPosX,DPosY,PosX,PosY,DVelX,DVelY,VelX,VelY,DAccX,DAccY" },
{ LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning),
"CTUN", "Ihhhffecchh", "TimeMS,ThrIn,AngBst,ThrOut,DAlt,Alt,BarAlt,DSAlt,SAlt,DCRt,CRt" },
{ LOG_COMPASS_MSG, sizeof(log_Compass),
"MAG", "Ihhhhhhhhh", "TimeMS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ" },
#if COMPASS_MAX_INSTANCES > 1
{ LOG_COMPASS2_MSG, sizeof(log_Compass),
"MAG2","Ihhhhhhhhh", "TimeMS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ" },
#endif
#if COMPASS_MAX_INSTANCES > 2
{ LOG_COMPASS3_MSG, sizeof(log_Compass),
"MAG3","Ihhhhhhhhh", "TimeMS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ" },
#endif
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "HHIhBHB", "NLon,NLoop,MaxT,PMT,I2CErr,INSErr,INAVErr" },
{ LOG_MODE_MSG, sizeof(log_Mode),

3
ArduCopter/defines.h
View File

@ -226,7 +226,6 @@ enum FlipState {
#define LOG_OPTFLOW_MSG 0x0C
#define LOG_EVENT_MSG 0x0D
#define LOG_PID_MSG 0x0E // deprecated
#define LOG_COMPASS_MSG 0x0F
#define LOG_INAV_MSG 0x11 // deprecated
#define LOG_CAMERA_MSG_DEPRECATED 0x12 // deprecated
#define LOG_ERROR_MSG 0x13
@ -237,8 +236,6 @@ enum FlipState {
#define LOG_DATA_FLOAT_MSG 0x18
#define LOG_AUTOTUNE_MSG 0x19
#define LOG_AUTOTUNEDETAILS_MSG 0x1A
#define LOG_COMPASS2_MSG 0x1B
#define LOG_COMPASS3_MSG 0x1C
#define MASK_LOG_ATTITUDE_FAST (1<<0)
#define MASK_LOG_ATTITUDE_MED (1<<1)