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

Replay: fixed to handle IMT copter logs

This commit is contained in:
Andrew Tridgell 2016-05-03 13:21:42 +10:00
parent b235304235
commit 640a04a1ee
2 changed files with 13 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
Tools/Replay/LR_MsgHandler.cpp
View File

@ -339,7 +339,7 @@ void LR_MsgHandler_NTUN_Copter::process_message(uint8_t *msg)
bool LR_MsgHandler::set_parameter(const char *name, float value)
{
const char *ignore_parms[] = { "GPS_TYPE", "AHRS_EKF_TYPE", "EK2_ENABLE",
const char *ignore_parms[] = { "GPS_TYPE", "AHRS_EKF_TYPE", "EK2_ENABLE", "EKF_ENABLE",
"COMPASS_ORIENT", "COMPASS_ORIENT2",
"COMPASS_ORIENT3"};
for (uint8_t i=0; i < ARRAY_SIZE(ignore_parms); i++) {

14
Tools/Replay/Replay.cpp
View File

@ -145,9 +145,13 @@ const AP_Param::Info ReplayVehicle::var_info[] = {
void ReplayVehicle::load_parameters(void)
{
unlink("Replay.stg");
if (!AP_Param::check_var_info()) {
AP_HAL::panic("Bad parameter table");
}
AP_Param::set_default_by_name("EKF_ENABLE", 1);
AP_Param::set_default_by_name("EK2_ENABLE", 1);
AP_Param::set_default_by_name("AHRS_EKF_TYPE", 2);
}
/*
@ -523,12 +527,18 @@ bool Replay::find_log_info(struct log_information &info)
// using IMU as your clock source will lead to incorrect
// behaviour.
if (streq(type, "IMT")) {
memcpy(clock_source, "IMT", 3);
strcpy(clock_source, "IMT");
} else if (streq(type, "IMU")) {
memcpy(clock_source, "IMU", 3);
strcpy(clock_source, "IMU");
} else {
continue;
}
hal.console->printf("Using clock source %s\n", clock_source);
}
// IMT if available always overrides
if (streq(type, "IMT") && strcmp(clock_source, "IMT") != 0) {
strcpy(clock_source, "IMT");
hal.console->printf("Changing clock source to %s\n", clock_source);
}
if (streq(type, clock_source)) {
if (prev == 0) {