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Copter: move precision landing logging up into AC_PrecLand

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Peter Barker 2021-04-12 20:38:14 +10:00 committed by Andrew Tridgell
parent 105f94f1fd
commit 65b1868863
4 changed files with 0 additions and 82 deletions
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5
ArduCopter/Copter.cpp
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@ -462,11 +462,6 @@ void Copter::twentyfive_hz_logging()
}
#endif
#if PRECISION_LANDING == ENABLED
// log output
Log_Write_Precland();
#endif
#if MODE_AUTOROTATE_ENABLED == ENABLED
if (should_log(MASK_LOG_ATTITUDE_MED) || should_log(MASK_LOG_ATTITUDE_FAST)) {
//update autorotation log

1
ArduCopter/Copter.h
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@ -792,7 +792,6 @@ private:
#if FRAME_CONFIG == HELI_FRAME
void Log_Write_Heli(void);
#endif
void Log_Write_Precland();
void Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target);
void Log_Write_SysID_Setup(uint8_t systemID_axis, float waveform_magnitude, float frequency_start, float frequency_stop, float time_fade_in, float time_const_freq, float time_record, float time_fade_out);
void Log_Write_SysID_Data(float waveform_time, float waveform_sample, float waveform_freq, float angle_x, float angle_y, float angle_z, float accel_x, float accel_y, float accel_z);

75
ArduCopter/Log.cpp
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@ -366,60 +366,6 @@ void Copter::Log_Write_Heli()
}
#endif
// precision landing logging
struct PACKED log_Precland {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t healthy;
uint8_t target_acquired;
float pos_x;
float pos_y;
float vel_x;
float vel_y;
float meas_x;
float meas_y;
float meas_z;
uint32_t last_meas;
uint32_t ekf_outcount;
uint8_t estimator;
};
// Write a precision landing entry
void Copter::Log_Write_Precland()
{
#if PRECISION_LANDING == ENABLED
// exit immediately if not enabled
if (!precland.enabled()) {
return;
}
Vector3f target_pos_meas = Vector3f(0.0f,0.0f,0.0f);
Vector2f target_pos_rel = Vector2f(0.0f,0.0f);
Vector2f target_vel_rel = Vector2f(0.0f,0.0f);
precland.get_target_position_relative_cm(target_pos_rel);
precland.get_target_velocity_relative_cms(target_vel_rel);
precland.get_target_position_measurement_cm(target_pos_meas);
struct log_Precland pkt = {
LOG_PACKET_HEADER_INIT(LOG_PRECLAND_MSG),
time_us : AP_HAL::micros64(),
healthy : precland.healthy(),
target_acquired : precland.target_acquired(),
pos_x : target_pos_rel.x,
pos_y : target_pos_rel.y,
vel_x : target_vel_rel.x,
vel_y : target_vel_rel.y,
meas_x : target_pos_meas.x,
meas_y : target_pos_meas.y,
meas_z : target_pos_meas.z,
last_meas : precland.last_backend_los_meas_ms(),
ekf_outcount : precland.ekf_outlier_count(),
estimator : precland.estimator_type()
};
logger.WriteBlock(&pkt, sizeof(pkt));
#endif // PRECISION_LANDING == ENABLED
}
// guided target logging
struct PACKED log_GuidedTarget {
LOG_PACKET_HEADER;
@ -552,26 +498,6 @@ const struct LogStructure Copter::log_structure[] = {
"HELI", "Qffff", "TimeUS,DRRPM,ERRPM,Gov,Throt", "s----", "F----" },
#endif
// @LoggerMessage: PL
// @Description: Precision Landing messages
// @Field: TimeUS: Time since system startup
// @Field: Heal: True if Precision Landing is healthy
// @Field: TAcq: True if landing target is detected
// @Field: pX: Target position relative to vehicle, X-Axis (0 if target not found)
// @Field: pY: Target position relative to vehicle, Y-Axis (0 if target not found)
// @Field: vX: Target velocity relative to vehicle, X-Axis (0 if target not found)
// @Field: vY: Target velocity relative to vehicle, Y-Axis (0 if target not found)
// @Field: mX: Target's relative to origin position as 3-D Vector, X-Axis
// @Field: mY: Target's relative to origin position as 3-D Vector, Y-Axis
// @Field: mZ: Target's relative to origin position as 3-D Vector, Z-Axis
// @Field: LastMeasMS: Time when target was last detected
// @Field: EKFOutl: EKF's outlier count
// @Field: Est: Type of estimator used
#if PRECISION_LANDING == ENABLED
{ LOG_PRECLAND_MSG, sizeof(log_Precland),
"PL", "QBBfffffffIIB", "TimeUS,Heal,TAcq,pX,pY,vX,vY,mX,mY,mZ,LastMeasMS,EKFOutl,Est", "s--mmnnmmms--","F--BBBBBBBC--" },
#endif
// @LoggerMessage: SIDD
// @Description: System ID data
// @Field: TimeUS: Time since system startup
@ -645,7 +571,6 @@ void Copter::Log_Write_Data(LogDataID id, uint16_t value) {}
void Copter::Log_Write_Data(LogDataID id, float value) {}
void Copter::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max) {}
void Copter::Log_Sensor_Health() {}
void Copter::Log_Write_Precland() {}
void Copter::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
void Copter::Log_Write_SysID_Setup(uint8_t systemID_axis, float waveform_magnitude, float frequency_start, float frequency_stop, float time_fade_in, float time_const_freq, float time_record, float time_fade_out) {}
void Copter::Log_Write_SysID_Data(float waveform_time, float waveform_sample, float waveform_freq, float angle_x, float angle_y, float angle_z, float accel_x, float accel_y, float accel_z) {}

1
ArduCopter/defines.h
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@ -154,7 +154,6 @@ enum LoggingParameters {
LOG_MOTBATT_MSG,
LOG_PARAMTUNE_MSG,
LOG_HELI_MSG,
LOG_PRECLAND_MSG,
LOG_GUIDEDTARGET_MSG,
LOG_SYSIDD_MSG,
LOG_SYSIDS_MSG,