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ACM Logging - added APM version #, stab_I term logging

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This commit is contained in:
Jason Short 2012-08-17 17:02:24 -07:00
parent 3772571d28
commit 47e2837a9e
1 changed files with 26 additions and 24 deletions
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50
ArduCopter/Log.pde
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@ -601,20 +601,8 @@ static void Log_Write_Nav_Tuning()
DataFlash.WriteInt(nav_lat); // 6 DataFlash.WriteInt(nav_lat); // 6
DataFlash.WriteInt(x_actual_speed); // 7 DataFlash.WriteInt(x_actual_speed); // 7
DataFlash.WriteInt(y_actual_speed); // 8 DataFlash.WriteInt(y_actual_speed); // 8
DataFlash.WriteInt(g.pid_nav_lon.get_integrator()); // 9 DataFlash.WriteInt(g.pid_nav_lon.get_integrator()); // 9
DataFlash.WriteInt(g.pid_nav_lat.get_integrator()); // 10 DataFlash.WriteInt(g.pid_nav_lat.get_integrator()); // 10
/*DataFlash.WriteInt(wp_distance); // 1
DataFlash.WriteInt(nav_bearing/100); // 2
DataFlash.WriteInt(my_max_speed); // 3
DataFlash.WriteInt(long_error); // 4
DataFlash.WriteInt(x_actual_speed); // 5
DataFlash.WriteInt(target_x_rate); // 6
DataFlash.WriteInt(x_rate_error); // 7
DataFlash.WriteInt(nav_lon_p); // 8
DataFlash.WriteInt(g.pi_loiter_lon.get_integrator()); // 9
DataFlash.WriteInt(nav_lon); // 10
*/
DataFlash.WriteByte(END_BYTE); DataFlash.WriteByte(END_BYTE);
} }
@ -754,13 +742,15 @@ static void Log_Write_Attitude()
DataFlash.WriteByte(HEAD_BYTE2); DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_ATTITUDE_MSG); DataFlash.WriteByte(LOG_ATTITUDE_MSG);
DataFlash.WriteInt(g.rc_1.control_in); // 1 DataFlash.WriteInt(control_roll); // 1
DataFlash.WriteInt((int)ahrs.roll_sensor); // 2 DataFlash.WriteInt((int16_t)ahrs.roll_sensor); // 2
DataFlash.WriteInt(g.rc_2.control_in); // 3 DataFlash.WriteInt(control_pitch); // 3
DataFlash.WriteInt((int)ahrs.pitch_sensor); // 4 DataFlash.WriteInt((int16_t)ahrs.pitch_sensor); // 4
DataFlash.WriteInt(g.rc_4.control_in); // 5 DataFlash.WriteInt(g.rc_4.control_in); // 5
DataFlash.WriteInt((uint16_t)ahrs.yaw_sensor); // 6 DataFlash.WriteInt((uint16_t)ahrs.yaw_sensor); // 6
DataFlash.WriteInt((uint16_t)nav_yaw); // 7 (this used to be compass.heading) DataFlash.WriteInt((uint16_t)nav_yaw); // 7 (this used to be compass.heading)
DataFlash.WriteInt((int16_t)g.pi_stabilize_roll.get_integrator()); // 8
DataFlash.WriteInt((int16_t)g.pi_stabilize_pitch.get_integrator()); // 9
DataFlash.WriteByte(END_BYTE); DataFlash.WriteByte(END_BYTE);
} }
@ -774,16 +764,20 @@ static void Log_Read_Attitude()
int16_t temp5 = DataFlash.ReadInt(); int16_t temp5 = DataFlash.ReadInt();
uint16_t temp6 = DataFlash.ReadInt(); uint16_t temp6 = DataFlash.ReadInt();
uint16_t temp7 = DataFlash.ReadInt(); uint16_t temp7 = DataFlash.ReadInt();
int16_t temp8 = DataFlash.ReadInt();
int16_t temp9 = DataFlash.ReadInt();
// 1 2 3 4 5 6 7 // 1 2 3 4 5 6 7 8 9
Serial.printf_P(PSTR("ATT, %d, %d, %d, %d, %d, %u, %u\n"), Serial.printf_P(PSTR("ATT, %d, %d, %d, %d, %d, %u, %u, %d, %d\n"),
temp1, temp1,
temp2, temp2,
temp3, temp3,
temp4, temp4,
temp5, temp5,
temp6, temp6,
temp7); temp7,
temp8,
temp9);
} }
// Write a mode packet. Total length : 7 bytes // Write a mode packet. Total length : 7 bytes
@ -910,6 +904,14 @@ static void Log_Read(int16_t start_page, int16_t end_page)
"\nFree RAM: %u\n"), "\nFree RAM: %u\n"),
memcheck_available_memory()); memcheck_available_memory());
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
Serial.printf_P(PSTR("APM 2\n");
#elif CONFIG_APM_HARDWARE == APM2_BETA_HARDWARE
Serial.printf_P(PSTR("APM 2Beta\n");
#else
Serial.printf_P(PSTR("APM 1\n");
#endif
if(start_page > end_page){ if(start_page > end_page){
packet_count = Log_Read_Process(start_page, DataFlash.df_NumPages); packet_count = Log_Read_Process(start_page, DataFlash.df_NumPages);
packet_count += Log_Read_Process(1, end_page); packet_count += Log_Read_Process(1, end_page);