Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

DataFlash: added timestamp to IMU and VelZ to GPS logging 

both are very useful for analysis
This commit is contained in:
Andrew Tridgell 2013-11-04 16:56:55 +11:00
parent 02d6f012ce
commit 5e915fbde3
2 changed files with 9 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/DataFlash/DataFlash.h
View File

@ -151,6 +151,7 @@ struct PACKED log_GPS {
int32_t altitude;
uint32_t ground_speed;
int32_t ground_course;
float vel_z;
};
struct PACKED log_Message {
@ -160,6 +161,7 @@ struct PACKED log_Message {
struct PACKED log_IMU {
LOG_PACKET_HEADER;
uint32_t timestamp;
float gyro_x, gyro_y, gyro_z;
float accel_x, accel_y, accel_z;
};
@ -170,9 +172,9 @@ struct PACKED log_IMU {
{ LOG_PARAMETER_MSG, sizeof(log_Parameter), \
"PARM", "Nf", "Name,Value" }, \
{ LOG_GPS_MSG, sizeof(log_GPS), \
"GPS", "BIHBcLLeeEe", "Status,TimeMS,Week,NSats,HDop,Lat,Lng,RelAlt,Alt,Spd,GCrs" }, \
"GPS", "BIHBcLLeeEef", "Status,TimeMS,Week,NSats,HDop,Lat,Lng,RelAlt,Alt,Spd,GCrs,VelZ" }, \
{ LOG_IMU_MSG, sizeof(log_IMU), \
"IMU", "ffffff", "GyrX,GyrY,GyrZ,AccX,AccY,AccZ" }, \
"IMU", "Iffffff", "TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ" }, \
{ LOG_MESSAGE_MSG, sizeof(log_Message), \
"MSG", "Z", "Message" }

8
libraries/DataFlash/LogFile.cpp
View File

@ -615,7 +615,8 @@ void DataFlash_Class::Log_Write_GPS(const GPS *gps, int32_t relative_alt)
rel_altitude : relative_alt,
altitude : gps->altitude_cm,
ground_speed : gps->ground_speed_cm,
ground_course : gps->ground_course_cd
ground_course : gps->ground_course_cd,
vel_z : gps->velocity_down()
};
WriteBlock(&pkt, sizeof(pkt));
}
@ -624,10 +625,11 @@ void DataFlash_Class::Log_Write_GPS(const GPS *gps, int32_t relative_alt)
// Write an raw accel/gyro data packet
void DataFlash_Class::Log_Write_IMU(const AP_InertialSensor &ins)
{
Vector3f gyro = ins.get_gyro();
Vector3f accel = ins.get_accel();
const Vector3f &gyro = ins.get_gyro();
const Vector3f &accel = ins.get_accel();
struct log_IMU pkt = {
LOG_PACKET_HEADER_INIT(LOG_IMU_MSG),
timestamp : hal.scheduler->millis(),
gyro_x : gyro.x,
gyro_y : gyro.y,
gyro_z : gyro.z,