From 457f77314e56eb4f64bcf566b269f8ff039f3afe Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 30 Apr 2015 13:21:44 +1000 Subject: [PATCH] AP_TECS: use 64-bit timestamps for dataflash logs --- libraries/AP_TECS/AP_TECS.cpp | 2 +- libraries/AP_TECS/AP_TECS.h | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp index 85e6cd0df8..4716aabff0 100644 --- a/libraries/AP_TECS/AP_TECS.cpp +++ b/libraries/AP_TECS/AP_TECS.cpp @@ -887,7 +887,7 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm, log_tuning.thr = _throttle_dem; log_tuning.ptch = _pitch_dem; log_tuning.dspd_dem = _TAS_rate_dem; - log_tuning.time_ms = hal.scheduler->millis(); + log_tuning.time_us = hal.scheduler->micros64(); } // log the contents of the log_tuning structure to dataflash diff --git a/libraries/AP_TECS/AP_TECS.h b/libraries/AP_TECS/AP_TECS.h index 79b3cba636..758a4b3e34 100644 --- a/libraries/AP_TECS/AP_TECS.h +++ b/libraries/AP_TECS/AP_TECS.h @@ -81,7 +81,7 @@ public: struct PACKED log_TECS_Tuning { LOG_PACKET_HEADER; - uint32_t time_ms; + uint64_t time_us; float hgt; float dhgt; float hgt_dem; @@ -288,6 +288,6 @@ private: }; #define TECS_LOG_FORMAT(msg) { msg, sizeof(AP_TECS::log_TECS_Tuning), \ - "TECS", "Iffffffffffff", "TimeMS,h,dh,h_dem,dh_dem,sp_dem,sp,dsp,ith,iph,th,ph,dsp_dem" } + "TECS", "Qffffffffffff", "TimeUS,h,dh,h_dem,dh_dem,sp_dem,sp,dsp,ith,iph,th,ph,dsp_dem" } #endif //AP_TECS_H