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DataFlash: Add Log_Write_Radio to store RSSI and noise on board.

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This commit is contained in:
Michael Day 2014-03-11 10:05:02 -07:00 committed by Andrew Tridgell
parent 8202cf437b
commit 68dbfd6315
2 changed files with 35 additions and 2 deletions
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20
libraries/DataFlash/DataFlash.h
View File

@ -59,6 +59,7 @@ public:
void Log_Write_EKF(AP_AHRS_NavEKF &ahrs);
#endif
void Log_Write_MavCmd(uint16_t cmd_total, const mavlink_mission_item_t& mav_cmd);
void Log_Write_Radio(const mavlink_radio_t &packet);
void Log_Write_Message(const char *message);
void Log_Write_Message_P(const prog_char_t *message);
@ -334,6 +335,18 @@ struct PACKED log_Cmd {
float altitude;
};
struct PACKED log_Radio {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint8_t rssi;
uint8_t remrssi;
uint8_t txbuf;
uint8_t noise;
uint8_t remnoise;
uint16_t rxerrors;
uint16_t fixed;
};
#define LOG_COMMON_STRUCTURES \
{ LOG_FORMAT_MSG, sizeof(log_Format), \
"FMT", "BBnNZ", "Type,Length,Name,Format,Columns" }, \
@ -370,7 +383,9 @@ struct PACKED log_Cmd {
{ LOG_EKF4_MSG, sizeof(log_EKF4), \
"EKF4","Icccccchhhc","TimeMS,SVN,SVE,SVD,SPN,SPE,SPD,SMX,SMY,SMZ,SVT" }, \
{ LOG_CMD_MSG, sizeof(log_Cmd), \
"CMD", "IHHHfffffff","TimeMS,CTot,CNum,CId,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt" }
"CMD", "IHHHfffffff","TimeMS,CTot,CNum,CId,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt" }, \
{ LOG_RADIO_MSG, sizeof(log_Radio), \
"RAD", "IBBBBBHH", "TimeMS,RSSI,RemRSSI,TxBuf,Noise,RemNoise,RxErrors,Fixed" }
// message types for common messages
#define LOG_FORMAT_MSG 128
@ -390,7 +405,8 @@ struct PACKED log_Cmd {
#define LOG_EKF3_MSG 142
#define LOG_EKF4_MSG 143
#define LOG_GPS2_MSG 144
#define LOG_CMD_MSG 145
#define LOG_CMD_MSG 145
#define LOG_RADIO_MSG 146
#include "DataFlash_Block.h"
#include "DataFlash_File.h"

17
libraries/DataFlash/LogFile.cpp
View File

@ -961,3 +961,20 @@ void DataFlash_Class::Log_Write_MavCmd(uint16_t cmd_total, const mavlink_mission
};
WriteBlock(&pkt, sizeof(pkt));
}
void DataFlash_Class::Log_Write_Radio(const mavlink_radio_t &packet)
{
struct log_Radio pkt = {
LOG_PACKET_HEADER_INIT(LOG_RADIO_MSG),
time_ms : hal.scheduler->millis(),
rssi : packet.rssi,
remrssi : packet.remrssi,
txbuf : packet.txbuf,
noise : packet.noise,
remnoise : packet.remnoise,
rxerrors : packet.rxerrors,
fixed : packet.fixed
};
WriteBlock(&pkt, sizeof(pkt));
}