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DataFlash: added sample timestamp to mag messages

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allows for exact mag timings in replay
This commit is contained in:
Andrew Tridgell 2016-05-04 17:10:25 +10:00
parent 315d3854db
commit 61da827c16
2 changed files with 10 additions and 6 deletions
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9
libraries/DataFlash/LogFile.cpp
View File

@ -1648,7 +1648,8 @@ void DataFlash_Class::Log_Write_Compass(const Compass &compass)
motor_offset_x : (int16_t)mag_motor_offsets.x, motor_offset_x : (int16_t)mag_motor_offsets.x,
motor_offset_y : (int16_t)mag_motor_offsets.y, motor_offset_y : (int16_t)mag_motor_offsets.y,
motor_offset_z : (int16_t)mag_motor_offsets.z, motor_offset_z : (int16_t)mag_motor_offsets.z,
health : (uint8_t)compass.healthy(0) health : (uint8_t)compass.healthy(0),
SUS : compass.last_update_usec(0)
}; };
WriteBlock(&pkt, sizeof(pkt)); WriteBlock(&pkt, sizeof(pkt));
@ -1668,7 +1669,8 @@ void DataFlash_Class::Log_Write_Compass(const Compass &compass)
motor_offset_x : (int16_t)mag_motor_offsets2.x, motor_offset_x : (int16_t)mag_motor_offsets2.x,
motor_offset_y : (int16_t)mag_motor_offsets2.y, motor_offset_y : (int16_t)mag_motor_offsets2.y,
motor_offset_z : (int16_t)mag_motor_offsets2.z, motor_offset_z : (int16_t)mag_motor_offsets2.z,
health : (uint8_t)compass.healthy(1) health : (uint8_t)compass.healthy(1),
SUS : compass.last_update_usec(1)
}; };
WriteBlock(&pkt2, sizeof(pkt2)); WriteBlock(&pkt2, sizeof(pkt2));
} }
@ -1689,7 +1691,8 @@ void DataFlash_Class::Log_Write_Compass(const Compass &compass)
motor_offset_x : (int16_t)mag_motor_offsets3.x, motor_offset_x : (int16_t)mag_motor_offsets3.x,
motor_offset_y : (int16_t)mag_motor_offsets3.y, motor_offset_y : (int16_t)mag_motor_offsets3.y,
motor_offset_z : (int16_t)mag_motor_offsets3.z, motor_offset_z : (int16_t)mag_motor_offsets3.z,
health : (uint8_t)compass.healthy(2) health : (uint8_t)compass.healthy(2),
SUS : compass.last_update_usec(2)
}; };
WriteBlock(&pkt3, sizeof(pkt3)); WriteBlock(&pkt3, sizeof(pkt3));
} }

7
libraries/DataFlash/LogStructure.h
View File

@ -438,6 +438,7 @@ struct PACKED log_Compass {
int16_t motor_offset_y; int16_t motor_offset_y;
int16_t motor_offset_z; int16_t motor_offset_z;
uint8_t health; uint8_t health;
uint32_t SUS;
}; };
struct PACKED log_Mode { struct PACKED log_Mode {
@ -749,7 +750,7 @@ Format characters in the format string for binary log messages
{ LOG_ATTITUDE_MSG, sizeof(log_Attitude),\ { LOG_ATTITUDE_MSG, sizeof(log_Attitude),\
"ATT", "QccccCCCC", "TimeUS,DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw,ErrRP,ErrYaw" }, \ "ATT", "QccccCCCC", "TimeUS,DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw,ErrRP,ErrYaw" }, \
{ LOG_COMPASS_MSG, sizeof(log_Compass), \ { LOG_COMPASS_MSG, sizeof(log_Compass), \
"MAG", "QhhhhhhhhhB", "TimeUS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ,Health" }, \ "MAG", "QhhhhhhhhhBI", "TimeUS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ,Health,S" }, \
{ LOG_MODE_MSG, sizeof(log_Mode), \ { LOG_MODE_MSG, sizeof(log_Mode), \
"MODE", "QMBB", "TimeUS,Mode,ModeNum,Rsn" }, \ "MODE", "QMBB", "TimeUS,Mode,ModeNum,Rsn" }, \
{ LOG_RFND_MSG, sizeof(log_RFND), \ { LOG_RFND_MSG, sizeof(log_RFND), \
@ -832,9 +833,9 @@ Format characters in the format string for binary log messages
{ LOG_ESC8_MSG, sizeof(log_Esc), \ { LOG_ESC8_MSG, sizeof(log_Esc), \
"ESC8", "Qcccc", "TimeUS,RPM,Volt,Curr,Temp" }, \ "ESC8", "Qcccc", "TimeUS,RPM,Volt,Curr,Temp" }, \
{ LOG_COMPASS2_MSG, sizeof(log_Compass), \ { LOG_COMPASS2_MSG, sizeof(log_Compass), \
"MAG2","QhhhhhhhhhB", "TimeUS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ,Health" }, \ "MAG2","QhhhhhhhhhBI", "TimeUS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ,Health,S" }, \
{ LOG_COMPASS3_MSG, sizeof(log_Compass), \ { LOG_COMPASS3_MSG, sizeof(log_Compass), \
"MAG3","QhhhhhhhhhB", "TimeUS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ,Health" }, \ "MAG3","QhhhhhhhhhBI", "TimeUS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ,Health,S" }, \
{ LOG_ACC1_MSG, sizeof(log_ACCEL), \ { LOG_ACC1_MSG, sizeof(log_ACCEL), \
"ACC1", "QQfff", "TimeUS,SampleUS,AccX,AccY,AccZ" }, \ "ACC1", "QQfff", "TimeUS,SampleUS,AccX,AccY,AccZ" }, \
{ LOG_ACC2_MSG, sizeof(log_ACCEL), \ { LOG_ACC2_MSG, sizeof(log_ACCEL), \