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Replay: cope with old copter attitude and baro msgs

This commit is contained in:
Andrew Tridgell 2014-10-25 11:20:26 +11:00
parent ddd27f5acb
commit 485397c4cb
1 changed files with 17 additions and 5 deletions
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22
Tools/Replay/LogReader.cpp
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@ -224,8 +224,14 @@ void LogReader::process_copter(uint8_t type, uint8_t *data, uint16_t length)
case LOG_COPTER_ATTITUDE_MSG: {
struct log_Copter_Attitude msg;
if(sizeof(msg) != length) {
printf("Bad ATTITUDE length %u should be %u\n", length, sizeof(msg));
if (sizeof(msg) == length+sizeof(uint16_t)*2) {
// old style, without errors
memset(&msg, 0, sizeof(msg));
memcpy(&msg, data, length);
} else if (sizeof(msg) == length) {
memcpy(&msg, data, sizeof(msg));
} else {
printf("Bad ATTITUDE length %u should be %u\n", (unsigned)length, (unsigned)sizeof(msg));
exit(1);
}
memcpy(&msg, data, sizeof(msg));
@ -455,11 +461,17 @@ bool LogReader::update(uint8_t &type)
case LOG_BARO_MSG: {
struct log_BARO msg;
if(sizeof(msg) != f.length) {
printf("Bad LOG_BARO length\n");
if (sizeof(msg) == f.length+sizeof(float)) {
// old style, without climbrate
memset(&msg, 0, sizeof(msg));
memcpy(&msg, data, f.length);
} else if (sizeof(msg) == f.length) {
memcpy(&msg, data, sizeof(msg));
} else {
printf("Bad LOG_BARO length %u expected %u\n",
(unsigned)f.length, (unsigned)sizeof(msg));
exit(1);
}
memcpy(&msg, data, sizeof(msg));
wait_timestamp(msg.timestamp);
baro.setHIL(msg.pressure, msg.temperature*0.01f);
break;