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Rover: add xtrack_error to DF log

This commit is contained in:
Tom Pittenger 2016-01-05 16:18:29 -08:00 committed by Andrew Tridgell
parent 6cb20b679d
commit 4280dacced
1 changed files with 5 additions and 3 deletions
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8
APMrover2/Log.cpp
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@ -256,9 +256,10 @@ struct PACKED log_Nav_Tuning {
uint16_t target_bearing_cd; uint16_t target_bearing_cd;
uint16_t nav_bearing_cd; uint16_t nav_bearing_cd;
int8_t throttle; int8_t throttle;
float xtrack_error;
}; };
// Write a navigation tuning packet. Total length : 18 bytes // Write a navigation tuning packet
void Rover::Log_Write_Nav_Tuning() void Rover::Log_Write_Nav_Tuning()
{ {
struct log_Nav_Tuning pkt = { struct log_Nav_Tuning pkt = {
@ -268,7 +269,8 @@ void Rover::Log_Write_Nav_Tuning()
wp_distance : wp_distance, wp_distance : wp_distance,
target_bearing_cd : (uint16_t)nav_controller->target_bearing_cd(), target_bearing_cd : (uint16_t)nav_controller->target_bearing_cd(),
nav_bearing_cd : (uint16_t)nav_controller->nav_bearing_cd(), nav_bearing_cd : (uint16_t)nav_controller->nav_bearing_cd(),
throttle : (int8_t)(100 * channel_throttle->norm_output()) throttle : (int8_t)(100 * channel_throttle->norm_output()),
xtrack_error : nav_controller->crosstrack_error()
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); DataFlash.WriteBlock(&pkt, sizeof(pkt));
} }
@ -393,7 +395,7 @@ const LogStructure Rover::log_structure[] = {
{ LOG_CTUN_MSG, sizeof(log_Control_Tuning), { LOG_CTUN_MSG, sizeof(log_Control_Tuning),
"CTUN", "Qhcchf", "TimeUS,Steer,Roll,Pitch,ThrOut,AccY" }, "CTUN", "Qhcchf", "TimeUS,Steer,Roll,Pitch,ThrOut,AccY" },
{ LOG_NTUN_MSG, sizeof(log_Nav_Tuning), { LOG_NTUN_MSG, sizeof(log_Nav_Tuning),
"NTUN", "QHfHHb", "TimeUS,Yaw,WpDist,TargBrg,NavBrg,Thr" }, "NTUN", "QHfHHbf", "TimeUS,Yaw,WpDist,TargBrg,NavBrg,Thr,XT" },
{ LOG_SONAR_MSG, sizeof(log_Sonar), { LOG_SONAR_MSG, sizeof(log_Sonar),
"SONR", "QfHHHbHCb", "TimeUS,LatAcc,S1Dist,S2Dist,DCnt,TAng,TTim,Spd,Thr" }, "SONR", "QfHHHbHCb", "TimeUS,LatAcc,S1Dist,S2Dist,DCnt,TAng,TTim,Spd,Thr" },
{ LOG_ARM_DISARM_MSG, sizeof(log_Arm_Disarm), { LOG_ARM_DISARM_MSG, sizeof(log_Arm_Disarm),