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DataFlash: Adding Logging of RSSI data.

This commit is contained in:
Stewart Loving-Gibbard 2015-09-04 08:50:23 -07:00 committed by Randy Mackay
parent 0f55b2a0eb
commit 4dcf6b8dc3
2 changed files with 22 additions and 0 deletions
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11
libraries/DataFlash/DataFlash.h
View File

@ -11,6 +11,7 @@
#include <AP_Param/AP_Param.h>
#include <AP_GPS/AP_GPS.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
#include <AP_RSSI/AP_RSSI.h>
#include <AP_Baro/AP_Baro.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Vehicle/AP_Vehicle.h>
@ -94,6 +95,7 @@ public:
void Log_Write_Vibration(const AP_InertialSensor &ins);
void Log_Write_RCIN(void);
void Log_Write_RCOUT(void);
void Log_Write_RSSI(AP_RSSI &rssi);
void Log_Write_Baro(AP_Baro &baro);
void Log_Write_Power(void);
void Log_Write_AHRS2(AP_AHRS &ahrs);
@ -303,6 +305,12 @@ struct PACKED log_RCOUT {
uint16_t chan12;
};
struct PACKED log_RSSI {
LOG_PACKET_HEADER;
uint64_t time_us;
float RXRSSI;
};
struct PACKED log_BARO {
LOG_PACKET_HEADER;
uint64_t time_us;
@ -730,6 +738,8 @@ Format characters in the format string for binary log messages
"RCIN", "Qhhhhhhhhhhhhhh", "TimeUS,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14" }, \
{ LOG_RCOUT_MSG, sizeof(log_RCOUT), \
"RCOU", "Qhhhhhhhhhhhh", "TimeUS,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Ch8,Ch9,Ch10,Ch11,Ch12" }, \
{ LOG_RSSI_MSG, sizeof(log_RSSI), \
"RSSI", "Qf", "TimeUS,RXRSSI" }, \
{ LOG_BARO_MSG, sizeof(log_BARO), \
"BARO", "Qffcf", "TimeUS,Alt,Press,Temp,CRt" }, \
{ LOG_POWR_MSG, sizeof(log_POWR), \
@ -868,6 +878,7 @@ enum LogMessages {
LOG_MESSAGE_MSG,
LOG_RCIN_MSG,
LOG_RCOUT_MSG,
LOG_RSSI_MSG,
LOG_IMU2_MSG,
LOG_BARO_MSG,
LOG_POWR_MSG,

11
libraries/DataFlash/LogFile.cpp
View File

@ -809,6 +809,17 @@ void DataFlash_Class::Log_Write_RCOUT(void)
Log_Write_ESC();
}
// Write an RSSI packet
void DataFlash_Class::Log_Write_RSSI(AP_RSSI &rssi)
{
struct log_RSSI pkt = {
LOG_PACKET_HEADER_INIT(LOG_RSSI_MSG),
time_us : hal.scheduler->micros64(),
RXRSSI : rssi.read_receiver_rssi()
};
WriteBlock(&pkt, sizeof(pkt));
}
// Write a BARO packet
void DataFlash_Class::Log_Write_Baro(AP_Baro &baro)
{