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DataFlash: Add common-vehicle Current logging message.

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This commit is contained in:
Robert Lefebvre 2014-12-18 16:34:29 -05:00 committed by Randy Mackay
parent c9d5b6aa7f
commit 50b5376945
2 changed files with 31 additions and 0 deletions
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15
libraries/DataFlash/DataFlash.h
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@ -13,6 +13,7 @@
#include <AP_Baro.h> #include <AP_Baro.h>
#include <AP_AHRS.h> #include <AP_AHRS.h>
#include "../AP_Airspeed/AP_Airspeed.h" #include "../AP_Airspeed/AP_Airspeed.h"
#include <AP_BattMonitor.h>
#include <stdint.h> #include <stdint.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
@ -80,6 +81,7 @@ public:
void Log_Write_ESC(void); void Log_Write_ESC(void);
void Log_Write_Airspeed(AP_Airspeed &airspeed); void Log_Write_Airspeed(AP_Airspeed &airspeed);
void Log_Write_Attitude(AP_AHRS &ahrs, Vector3f targets); void Log_Write_Attitude(AP_AHRS &ahrs, Vector3f targets);
void Log_Write_Current(AP_BattMonitor battery, int16_t throttle);
bool logging_started(void) const { return log_write_started; } bool logging_started(void) const { return log_write_started; }
@ -419,6 +421,16 @@ struct PACKED log_Attitude {
uint16_t error_yaw; uint16_t error_yaw;
}; };
struct PACKED log_Current {
LOG_PACKET_HEADER;
uint32_t time_ms;
int16_t throttle;
int16_t battery_voltage;
int16_t current_amps;
uint16_t board_voltage;
float current_total;
};
/* /*
terrain log structure terrain log structure
*/ */
@ -516,6 +528,8 @@ struct PACKED log_AIRSPEED {
"CAM", "IHLLeeccC","GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,Roll,Pitch,Yaw" }, \ "CAM", "IHLLeeccC","GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,Roll,Pitch,Yaw" }, \
{ LOG_ARSP_MSG, sizeof(log_AIRSPEED), \ { LOG_ARSP_MSG, sizeof(log_AIRSPEED), \
"ARSP", "Iffcff", "TimeMS,Airspeed,DiffPress,Temp,RawPress,Offset" } "ARSP", "Iffcff", "TimeMS,Airspeed,DiffPress,Temp,RawPress,Offset" }
{ LOG_CURRENT_MSG, sizeof(log_Current), \
"CURR", "Ihhhhf","TimeMS,ThrOut,Volt,Curr,Vcc,CurrTot" }
// messages for more advanced boards // messages for more advanced boards
#define LOG_EXTRA_STRUCTURES \ #define LOG_EXTRA_STRUCTURES \
@ -613,6 +627,7 @@ struct PACKED log_AIRSPEED {
#define LOG_BAR2_MSG 163 #define LOG_BAR2_MSG 163
#define LOG_ARSP_MSG 164 #define LOG_ARSP_MSG 164
#define LOG_ATTITUDE_MSG 165 #define LOG_ATTITUDE_MSG 165
#define LOG_CURRENT_MSG 165
// message types 200 to 210 reversed for GPS driver use // message types 200 to 210 reversed for GPS driver use
// message types 211 to 220 reversed for autotune use // message types 211 to 220 reversed for autotune use

16
libraries/DataFlash/LogFile.cpp
View File

@ -7,6 +7,7 @@
#include <AP_Math.h> #include <AP_Math.h>
#include <AP_Baro.h> #include <AP_Baro.h>
#include <AP_AHRS.h> #include <AP_AHRS.h>
#include <AP_BattMonitor.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -1131,6 +1132,21 @@ void DataFlash_Class::Log_Write_Attitude(AP_AHRS &ahrs, Vector3f targets)
WriteBlock(&pkt, sizeof(pkt)); WriteBlock(&pkt, sizeof(pkt));
} }
// Write an Current data packet
void DataFlash_Class::Log_Write_Current(AP_BattMonitor battery, int16_t throttle)
{
struct log_Current pkt = {
LOG_PACKET_HEADER_INIT(LOG_CURRENT_MSG),
time_ms : hal.scheduler->millis(),
throttle : throttle,
battery_voltage : (int16_t) (battery.voltage() * 100.0f),
current_amps : (int16_t) (battery.current_amps() * 100.0f),
board_voltage : (uint16_t)(hal.analogin->board_voltage()*1000),
current_total : battery.current_total_mah()
};
WriteBlock(&pkt, sizeof(pkt));
}
// Write ESC status messages // Write ESC status messages
void DataFlash_Class::Log_Write_ESC(void) void DataFlash_Class::Log_Write_ESC(void)
{ {