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Rover: use 64-bit timestamps in dataflash logs

This commit is contained in:
Peter Barker 2015-04-29 21:11:24 +10:00 committed by Andrew Tridgell
parent 617043f468
commit 58f2bcb754
1 changed files with 18 additions and 18 deletions
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36
APMrover2/Log.cpp
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@ -160,7 +160,7 @@ void Rover::do_erase_logs(void)
struct PACKED log_Performance {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint64_t time_us;
uint32_t loop_time;
uint16_t main_loop_count;
uint32_t g_dt_max;
@ -176,7 +176,7 @@ void Rover::Log_Write_Performance()
{
struct log_Performance pkt = {
LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG),
time_ms : millis(),
time_us : hal.scheduler->micros64(),
loop_time : millis()- perf_mon_timer,
main_loop_count : mainLoop_count,
g_dt_max : G_Dt_max,
@ -199,7 +199,7 @@ void Rover::Log_Write_Cmd(const AP_Mission::Mission_Command &cmd)
struct PACKED log_Steering {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint64_t time_us;
float demanded_accel;
float achieved_accel;
};
@ -209,7 +209,7 @@ void Rover::Log_Write_Steering()
{
struct log_Steering pkt = {
LOG_PACKET_HEADER_INIT(LOG_STEERING_MSG),
time_ms : hal.scheduler->millis(),
time_us : hal.scheduler->micros64(),
demanded_accel : lateral_acceleration,
achieved_accel : gps.ground_speed() * ins.get_gyro().z,
};
@ -218,7 +218,7 @@ void Rover::Log_Write_Steering()
struct PACKED log_Startup {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint64_t time_us;
uint8_t startup_type;
uint16_t command_total;
};
@ -227,7 +227,7 @@ void Rover::Log_Write_Startup(uint8_t type)
{
struct log_Startup pkt = {
LOG_PACKET_HEADER_INIT(LOG_STARTUP_MSG),
time_ms : millis(),
time_us : hal.scheduler->micros64(),
startup_type : type,
command_total : mission.num_commands()
};
@ -251,7 +251,7 @@ void Rover::Log_Write_EntireMission()
struct PACKED log_Control_Tuning {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint64_t time_us;
int16_t steer_out;
int16_t roll;
int16_t pitch;
@ -265,7 +265,7 @@ void Rover::Log_Write_Control_Tuning()
Vector3f accel = ins.get_accel();
struct log_Control_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_CTUN_MSG),
time_ms : millis(),
time_us : hal.scheduler->micros64(),
steer_out : (int16_t)channel_steer->servo_out,
roll : (int16_t)ahrs.roll_sensor,
pitch : (int16_t)ahrs.pitch_sensor,
@ -277,7 +277,7 @@ void Rover::Log_Write_Control_Tuning()
struct PACKED log_Nav_Tuning {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint64_t time_us;
uint16_t yaw;
float wp_distance;
uint16_t target_bearing_cd;
@ -290,7 +290,7 @@ void Rover::Log_Write_Nav_Tuning()
{
struct log_Nav_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_NTUN_MSG),
time_ms : millis(),
time_us : hal.scheduler->micros64(),
yaw : (uint16_t)ahrs.yaw_sensor,
wp_distance : wp_distance,
target_bearing_cd : (uint16_t)nav_controller->target_bearing_cd(),
@ -320,7 +320,7 @@ void Rover::Log_Write_Attitude()
struct PACKED log_Sonar {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint64_t time_us;
float lateral_accel;
uint16_t sonar1_distance;
uint16_t sonar2_distance;
@ -340,7 +340,7 @@ void Rover::Log_Write_Sonar()
}
struct log_Sonar pkt = {
LOG_PACKET_HEADER_INIT(LOG_SONAR_MSG),
time_ms : millis(),
time_us : hal.scheduler->micros64(),
lateral_accel : lateral_acceleration,
sonar1_distance : (uint16_t)sonar.distance_cm(0),
sonar2_distance : (uint16_t)sonar.distance_cm(1),
@ -375,17 +375,17 @@ void Rover::Log_Write_Baro(void)
const LogStructure Rover::log_structure[] PROGMEM = {
LOG_COMMON_STRUCTURES,
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "IIHIhhhBH", "TimeMS,LTime,MLC,gDt,GDx,GDy,GDz,I2CErr,INSErr" },
"PM", "QIHIhhhBH", "TimeUS,LTime,MLC,gDt,GDx,GDy,GDz,I2CErr,INSErr" },
{ LOG_STARTUP_MSG, sizeof(log_Startup),
"STRT", "IBH", "TimeMS,SType,CTot" },
"STRT", "QBH", "TimeUS,SType,CTot" },
{ LOG_CTUN_MSG, sizeof(log_Control_Tuning),
"CTUN", "Ihcchf", "TimeMS,Steer,Roll,Pitch,ThrOut,AccY" },
"CTUN", "Qhcchf", "TimeUS,Steer,Roll,Pitch,ThrOut,AccY" },
{ LOG_NTUN_MSG, sizeof(log_Nav_Tuning),
"NTUN", "IHfHHb", "TimeMS,Yaw,WpDist,TargBrg,NavBrg,Thr" },
"NTUN", "QHfHHb", "TimeUS,Yaw,WpDist,TargBrg,NavBrg,Thr" },
{ LOG_SONAR_MSG, sizeof(log_Sonar),
"SONR", "IfHHHbHCb", "TimeMS,LatAcc,S1Dist,S2Dist,DCnt,TAng,TTim,Spd,Thr" },
"SONR", "QfHHHbHCb", "TimeUS,LatAcc,S1Dist,S2Dist,DCnt,TAng,TTim,Spd,Thr" },
{ LOG_STEERING_MSG, sizeof(log_Steering),
"STER", "Iff", "TimeMS,Demanded,Achieved" },
"STER", "Qff", "TimeUS,Demanded,Achieved" },
};
void Rover::log_init(void)