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DataFlash: convert GPS and CAM dataflash messages to 64-bit timestamps 

GPS structures remove 32-bit apm_time and replace with standard time_us
Significant change to GPS and GPS2 messages:
	    Add TimeUS as first field
	    Remove T field
	    Due to length restrictions on labels:
	    	Renamed TimeMS to GMS (Gps MilliSeconds)
		Renamed Week to GWk (Gps WeeK)
		Renamed RelAlt to RAlt
Significant change to CAM messages:
	    Removed GPSTime (uin32_t), added TimeUS (uint64_t)
This commit is contained in:
Peter Barker 2015-04-30 15:30:29 +10:00 committed by Andrew Tridgell
parent 769982b8f2
commit 617043f468
2 changed files with 9 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
libraries/DataFlash/DataFlash.h
View File

@ -169,6 +169,7 @@ struct PACKED log_Parameter {
struct PACKED log_GPS { struct PACKED log_GPS {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t status; uint8_t status;
uint32_t gps_week_ms; uint32_t gps_week_ms;
uint16_t gps_week; uint16_t gps_week;
@ -181,11 +182,11 @@ struct PACKED log_GPS {
uint32_t ground_speed; uint32_t ground_speed;
int32_t ground_course; int32_t ground_course;
float vel_z; float vel_z;
uint32_t apm_time;
}; };
struct PACKED log_GPS2 { struct PACKED log_GPS2 {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t status; uint8_t status;
uint32_t gps_week_ms; uint32_t gps_week_ms;
uint16_t gps_week; uint16_t gps_week;
@ -197,7 +198,6 @@ struct PACKED log_GPS2 {
uint32_t ground_speed; uint32_t ground_speed;
int32_t ground_course; int32_t ground_course;
float vel_z; float vel_z;
uint32_t apm_time;
uint8_t dgps_numch; uint8_t dgps_numch;
uint32_t dgps_age; uint32_t dgps_age;
}; };
@ -399,6 +399,7 @@ struct PACKED log_Radio {
struct PACKED log_Camera { struct PACKED log_Camera {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint64_t time_us;
uint32_t gps_time; uint32_t gps_time;
uint16_t gps_week; uint16_t gps_week;
int32_t latitude; int32_t latitude;
@ -582,7 +583,7 @@ Format characters in the format string for binary log messages
{ LOG_PARAMETER_MSG, sizeof(log_Parameter), \ { LOG_PARAMETER_MSG, sizeof(log_Parameter), \
"PARM", "QNf", "TimeUS,Name,Value" }, \ "PARM", "QNf", "TimeUS,Name,Value" }, \
{ LOG_GPS_MSG, sizeof(log_GPS), \ { LOG_GPS_MSG, sizeof(log_GPS), \
"GPS", "BIHBcLLeeEefI", "Status,TimeMS,Week,NSats,HDop,Lat,Lng,RelAlt,Alt,Spd,GCrs,VZ,T" }, \ "GPS", "QBIHBcLLeeEef", "TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,RAlt,Alt,Spd,GCrs,VZ" }, \
{ LOG_IMU_MSG, sizeof(log_IMU), \ { LOG_IMU_MSG, sizeof(log_IMU), \
"IMU", "QffffffIIfBB", "TimeUS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp,GyHlt,AcHlt" }, \ "IMU", "QffffffIIfBB", "TimeUS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp,GyHlt,AcHlt" }, \
{ LOG_MESSAGE_MSG, sizeof(log_Message), \ { LOG_MESSAGE_MSG, sizeof(log_Message), \
@ -602,7 +603,7 @@ Format characters in the format string for binary log messages
{ LOG_RADIO_MSG, sizeof(log_Radio), \ { LOG_RADIO_MSG, sizeof(log_Radio), \
"RAD", "QBBBBBHH", "TimeUS,RSSI,RemRSSI,TxBuf,Noise,RemNoise,RxErrors,Fixed" }, \ "RAD", "QBBBBBHH", "TimeUS,RSSI,RemRSSI,TxBuf,Noise,RemNoise,RxErrors,Fixed" }, \
{ LOG_CAMERA_MSG, sizeof(log_Camera), \ { LOG_CAMERA_MSG, sizeof(log_Camera), \
"CAM", "IHLLeeccC","GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,Roll,Pitch,Yaw" }, \ "CAM", "QHLLeeccC","TimeUS,GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,Roll,Pitch,Yaw" }, \
{ LOG_ARSP_MSG, sizeof(log_AIRSPEED), \ { LOG_ARSP_MSG, sizeof(log_AIRSPEED), \
"ARSP", "Qffcff", "TimeUS,Airspeed,DiffPress,Temp,RawPress,Offset" }, \ "ARSP", "Qffcff", "TimeUS,Airspeed,DiffPress,Temp,RawPress,Offset" }, \
{ LOG_CURRENT_MSG, sizeof(log_Current), \ { LOG_CURRENT_MSG, sizeof(log_Current), \
@ -617,7 +618,7 @@ Format characters in the format string for binary log messages
// messages for more advanced boards // messages for more advanced boards
#define LOG_EXTRA_STRUCTURES \ #define LOG_EXTRA_STRUCTURES \
{ LOG_GPS2_MSG, sizeof(log_GPS2), \ { LOG_GPS2_MSG, sizeof(log_GPS2), \
"GPS2", "BIHBcLLeEefIBI", "Status,TimeMS,Week,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,T,DSc,DAg" }, \ "GPS2", "QBIHBcLLeEefBI", "TimeUS,Status,GMS,GWk,NSats,HDp,Lat,Lng,Alt,Spd,GCrs,VZ,DSc,DAg" }, \
{ LOG_IMU2_MSG, sizeof(log_IMU), \ { LOG_IMU2_MSG, sizeof(log_IMU), \
"IMU2", "QffffffIIfBB", "TimeUS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp,GyHlt,AcHlt" }, \ "IMU2", "QffffffIIfBB", "TimeUS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp,GyHlt,AcHlt" }, \
{ LOG_IMU3_MSG, sizeof(log_IMU), \ { LOG_IMU3_MSG, sizeof(log_IMU), \

5
libraries/DataFlash/LogFile.cpp
View File

@ -668,6 +668,7 @@ void DataFlash_Class::Log_Write_GPS(const AP_GPS &gps, uint8_t i, int32_t relati
const struct Location &loc = gps.location(i); const struct Location &loc = gps.location(i);
struct log_GPS pkt = { struct log_GPS pkt = {
LOG_PACKET_HEADER_INIT(LOG_GPS_MSG), LOG_PACKET_HEADER_INIT(LOG_GPS_MSG),
time_us : hal.scheduler->micros64(),
status : (uint8_t)gps.status(i), status : (uint8_t)gps.status(i),
gps_week_ms : gps.time_week_ms(i), gps_week_ms : gps.time_week_ms(i),
gps_week : gps.time_week(i), gps_week : gps.time_week(i),
@ -680,7 +681,6 @@ void DataFlash_Class::Log_Write_GPS(const AP_GPS &gps, uint8_t i, int32_t relati
ground_speed : (uint32_t)(gps.ground_speed(i) * 100), ground_speed : (uint32_t)(gps.ground_speed(i) * 100),
ground_course : gps.ground_course_cd(i), ground_course : gps.ground_course_cd(i),
vel_z : gps.velocity(i).z, vel_z : gps.velocity(i).z,
apm_time : hal.scheduler->millis()
}; };
WriteBlock(&pkt, sizeof(pkt)); WriteBlock(&pkt, sizeof(pkt));
} }
@ -689,6 +689,7 @@ void DataFlash_Class::Log_Write_GPS(const AP_GPS &gps, uint8_t i, int32_t relati
const struct Location &loc2 = gps.location(i); const struct Location &loc2 = gps.location(i);
struct log_GPS2 pkt2 = { struct log_GPS2 pkt2 = {
LOG_PACKET_HEADER_INIT(LOG_GPS2_MSG), LOG_PACKET_HEADER_INIT(LOG_GPS2_MSG),
time_us : hal.scheduler->micros64(),
status : (uint8_t)gps.status(i), status : (uint8_t)gps.status(i),
gps_week_ms : gps.time_week_ms(i), gps_week_ms : gps.time_week_ms(i),
gps_week : gps.time_week(i), gps_week : gps.time_week(i),
@ -700,7 +701,6 @@ void DataFlash_Class::Log_Write_GPS(const AP_GPS &gps, uint8_t i, int32_t relati
ground_speed : (uint32_t)(gps.ground_speed(i)*100), ground_speed : (uint32_t)(gps.ground_speed(i)*100),
ground_course : gps.ground_course_cd(i), ground_course : gps.ground_course_cd(i),
vel_z : gps.velocity(i).z, vel_z : gps.velocity(i).z,
apm_time : hal.scheduler->millis(),
dgps_numch : 0, dgps_numch : 0,
dgps_age : 0 dgps_age : 0
}; };
@ -1125,6 +1125,7 @@ void DataFlash_Class::Log_Write_Camera(const AP_AHRS &ahrs, const AP_GPS &gps, c
struct log_Camera pkt = { struct log_Camera pkt = {
LOG_PACKET_HEADER_INIT(LOG_CAMERA_MSG), LOG_PACKET_HEADER_INIT(LOG_CAMERA_MSG),
time_us : hal.scheduler->micros64(),
gps_time : gps.time_week_ms(), gps_time : gps.time_week_ms(),
gps_week : gps.time_week(), gps_week : gps.time_week(),
latitude : current_loc.lat, latitude : current_loc.lat,