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AP_Logger: VISP msg adds reset_counter

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Randy Mackay 2020-04-11 09:52:57 +09:00 committed by Andrew Tridgell
parent fb7e68c53a
commit 4f639481c1
3 changed files with 7 additions and 4 deletions
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2
libraries/AP_Logger/AP_Logger.h
View File

@ -281,7 +281,7 @@ public:
uint8_t sequence,
const RallyLocation &rally_point);
void Write_VisualOdom(float time_delta, const Vector3f &angle_delta, const Vector3f &position_delta, float confidence);
void Write_VisualPosition(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw);
void Write_VisualPosition(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw, uint8_t reset_counter);
void Write_AOA_SSA(AP_AHRS &ahrs);
void Write_Beacon(AP_Beacon &beacon);
void Write_Proximity(AP_Proximity &proximity);

5
libraries/AP_Logger/LogFile.cpp
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@ -915,7 +915,7 @@ void AP_Logger::Write_VisualOdom(float time_delta, const Vector3f &angle_delta,
}
// Write visual position sensor data. x,y,z are in meters, angles are in degrees
void AP_Logger::Write_VisualPosition(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw)
void AP_Logger::Write_VisualPosition(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw, uint8_t reset_counter)
{
const struct log_VisualPosition pkt_visualpos {
LOG_PACKET_HEADER_INIT(LOG_VISUALPOS_MSG),
@ -927,7 +927,8 @@ void AP_Logger::Write_VisualPosition(uint64_t remote_time_us, uint32_t time_ms,
pos_z : z,
roll : roll,
pitch : pitch,
yaw : yaw
yaw : yaw,
reset_counter : reset_counter
};
WriteBlock(&pkt_visualpos, sizeof(log_VisualPosition));
}

4
libraries/AP_Logger/LogStructure.h
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@ -662,6 +662,7 @@ struct PACKED log_VisualPosition {
float roll; // degrees
float pitch; // degrees
float yaw; // degrees
uint8_t reset_counter;
};
struct PACKED log_ekfBodyOdomDebug {
@ -2020,6 +2021,7 @@ struct PACKED log_Arm_Disarm {
// @Field: Roll: Roll lean angle
// @Field: Pitch: Pitch lean angle
// @Field: Yaw: Yaw angle
// @Field: ResetCnt: Position reset counter
// @LoggerMessage: WENC
// @Description: Wheel encoder measurements
@ -2250,7 +2252,7 @@ struct PACKED log_Arm_Disarm {
{ LOG_VISUALODOM_MSG, sizeof(log_VisualOdom), \
"VISO", "Qffffffff", "TimeUS,dt,AngDX,AngDY,AngDZ,PosDX,PosDY,PosDZ,conf", "ssrrrmmm-", "FF000000-" }, \
{ LOG_VISUALPOS_MSG, sizeof(log_VisualPosition), \
"VISP", "QQIffffff", "TimeUS,RemTimeUS,CTimeMS,PX,PY,PZ,Roll,Pitch,Yaw", "sssmmmddh", "FFC000000" }, \
"VISP", "QQIffffffb", "TimeUS,RemTimeUS,CTimeMS,PX,PY,PZ,Roll,Pitch,Yaw,ResetCnt", "sssmmmddh-", "FFC000000-" }, \
{ LOG_OPTFLOW_MSG, sizeof(log_Optflow), \
"OF", "QBffff", "TimeUS,Qual,flowX,flowY,bodyX,bodyY", "s-EEnn", "F-0000" }, \
{ LOG_WHEELENCODER_MSG, sizeof(log_WheelEncoder), \