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Copter: add logging of compass values 

Removed rarely used ITERM because we didn't have enough bits in the log
mask
This commit is contained in:
Randy Mackay 2013-02-09 15:24:02 +09:00 committed by rmackay9
parent 6f27bc7ae5
commit 609676e26c
4 changed files with 45 additions and 55 deletions
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11
ArduCopter/ArduCopter.pde
View File

@ -1138,6 +1138,11 @@ static void medium_loop()
case 2:
medium_loopCounter++;
// log compass information
if (motors.armed() && g.log_bitmask & MASK_LOG_COMPASS) {
Log_Write_Compass();
}
if(control_mode == TOY_A) {
update_toy_throttle();
@ -1294,11 +1299,7 @@ static void slow_loop()
#endif
}
if(motors.armed()) {
if (g.log_bitmask & MASK_LOG_ITERM)
Log_Write_Iterm();
}else{
if(!motors.armed()) {
// check the user hasn't updated the frame orientation
motors.set_frame_orientation(g.frame_orientation);
}

79
ArduCopter/Log.pde
View File

@ -53,7 +53,7 @@ print_log_menu(void)
if (g.log_bitmask & MASK_LOG_MOTORS) cliSerial->printf_P(PSTR(" MOTORS"));
if (g.log_bitmask & MASK_LOG_OPTFLOW) cliSerial->printf_P(PSTR(" OPTFLOW"));
if (g.log_bitmask & MASK_LOG_PID) cliSerial->printf_P(PSTR(" PID"));
if (g.log_bitmask & MASK_LOG_ITERM) cliSerial->printf_P(PSTR(" ITERM"));
if (g.log_bitmask & MASK_LOG_COMPASS) cliSerial->printf_P(PSTR(" COMPASS"));
if (g.log_bitmask & MASK_LOG_INAV) cliSerial->printf_P(PSTR(" INAV"));
if (g.log_bitmask & MASK_LOG_CAMERA) cliSerial->printf_P(PSTR(" CAMERA"));
}
@ -171,7 +171,7 @@ select_logs(uint8_t argc, const Menu::arg *argv)
TARG(MOTORS);
TARG(OPTFLOW);
TARG(PID);
TARG(ITERM);
TARG(COMPASS);
TARG(INAV);
TARG(CAMERA);
#undef TARG
@ -585,55 +585,45 @@ static void Log_Read_Control_Tuning()
);
}
struct log_Iterm {
struct log_Compass {
LOG_PACKET_HEADER;
int16_t rate_roll;
int16_t rate_pitch;
int16_t rate_yaw;
int16_t accel_throttle;
int16_t nav_lat;
int16_t nav_lon;
int16_t loiter_rate_lat;
int16_t loiter_rate_lon;
int16_t throttle_cruise;
int16_t mag_x;
int16_t mag_y;
int16_t mag_z;
int16_t offset_x;
int16_t offset_y;
int16_t offset_z;
};
static void Log_Write_Iterm()
// Write a Compass packet. Total length : 15 bytes
static void Log_Write_Compass()
{
struct log_Iterm pkt = {
LOG_PACKET_HEADER_INIT(LOG_CONTROL_TUNING_MSG),
rate_roll : (int16_t) g.pid_rate_roll.get_integrator(),
rate_pitch : (int16_t) g.pid_rate_pitch.get_integrator(),
rate_yaw : (int16_t) g.pid_rate_yaw.get_integrator(),
accel_throttle : (int16_t) g.pid_throttle_accel.get_integrator(),
nav_lat : (int16_t) g.pid_nav_lat.get_integrator(),
nav_lon : (int16_t) g.pid_nav_lon.get_integrator(),
loiter_rate_lat : (int16_t) g.pid_loiter_rate_lat.get_integrator(),
loiter_rate_lon : (int16_t) g.pid_loiter_rate_lon.get_integrator(),
throttle_cruise : (int16_t) g.throttle_cruise
Vector3f mag_offsets = compass.get_offsets();
struct log_Compass pkt = {
LOG_PACKET_HEADER_INIT(LOG_COMPASS_MSG),
mag_x : compass.mag_x,
mag_y : compass.mag_y,
mag_z : compass.mag_z,
offset_x : mag_offsets.x,
offset_y : mag_offsets.y,
offset_z : mag_offsets.z,
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Read an control tuning packet
static void Log_Read_Iterm()
// Read a camera packet
static void Log_Read_Compass()
{
struct log_Iterm pkt;
struct log_Compass pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
// 1 2 3 4 5 6 7 8 9
cliSerial->printf_P(PSTR("ITERM, %d, %d, %d, %d, %d, %d, %d, %d, %d\n"),
(int)pkt.rate_roll,
(int)pkt.rate_pitch,
(int)pkt.rate_yaw,
(int)pkt.accel_throttle,
(int)pkt.nav_lat,
(int)pkt.nav_lon,
(int)pkt.loiter_rate_lat,
(int)pkt.loiter_rate_lon,
(int)pkt.throttle_cruise
);
cliSerial->printf_P(PSTR("ITERM, "));
// 1 2 3 4 5 6
cliSerial->printf_P(PSTR("COMPASS, %d, %d, %d, %d, %d, %d\n"),
(int)pkt.mag_x,
(int)pkt.mag_y,
(int)pkt.mag_z,
(int)pkt.offset_x,
(int)pkt.offset_y,
(int)pkt.offset_z);
}
struct log_Performance {
@ -1227,7 +1217,6 @@ static void Log_Read_Error()
cliSerial->printf_P(PSTR(", %u\n"),(unsigned)pkt.error_code);
}
// Read the DataFlash log memory
static void Log_Read(int16_t start_page, int16_t end_page)
{
@ -1312,8 +1301,8 @@ static void log_callback(uint8_t msgid)
Log_Read_PID();
break;
case LOG_ITERM_MSG:
Log_Read_Iterm();
case LOG_COMPASS_MSG:
Log_Read_Compass();
break;
case LOG_DMP_MSG:
@ -1364,7 +1353,7 @@ static void Log_Write_Mode(uint8_t mode) {}
static void Log_Write_IMU() {}
static void Log_Write_GPS() {}
static void Log_Write_Current() {}
static void Log_Write_Iterm() {}
static void Log_Write_Compass() {}
static void Log_Write_Attitude() {}
static void Log_Write_INAV() {}
static void Log_Write_Data(uint8_t id, int16_t value){}

6
ArduCopter/config.h
View File

@ -1159,8 +1159,8 @@
#ifndef LOG_PID
# define LOG_PID DISABLED
#endif
#ifndef LOG_ITERM
# define LOG_ITERM DISABLED
#ifndef LOG_COMPASS
# define LOG_COMPASS DISABLED
#endif
#ifndef LOG_INAV
# define LOG_INAV DISABLED
@ -1186,7 +1186,7 @@
LOGBIT(MOTORS) | \
LOGBIT(OPTFLOW) | \
LOGBIT(PID) | \
LOGBIT(ITERM) | \
LOGBIT(COMPASS) | \
LOGBIT(INAV)
// if we are using fast, Disable Medium

4
ArduCopter/defines.h
View File

@ -288,7 +288,7 @@ enum gcs_severity {
#define LOG_OPTFLOW_MSG 0x0C
#define LOG_EVENT_MSG 0x0D
#define LOG_PID_MSG 0x0E
#define LOG_ITERM_MSG 0x0F
#define LOG_COMPASS_MSG 0x0F
#define LOG_DMP_MSG 0x10
#define LOG_INAV_MSG 0x11
#define LOG_CAMERA_MSG 0x12
@ -314,7 +314,7 @@ enum gcs_severity {
#define MASK_LOG_MOTORS (1<<10)
#define MASK_LOG_OPTFLOW (1<<11)
#define MASK_LOG_PID (1<<12)
#define MASK_LOG_ITERM (1<<13)
#define MASK_LOG_COMPASS (1<<13)
#define MASK_LOG_INAV (1<<14)
#define MASK_LOG_CAMERA (1<<15)