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Plane: log state into bitmask

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This commit is contained in:
Peter Barker 2024-12-19 12:47:24 +11:00
parent 5c9003dd02
commit 6b046b0c88
1 changed files with 56 additions and 13 deletions
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69
ArduPlane/Log.cpp
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@ -204,22 +204,63 @@ struct PACKED log_Status {
bool is_still; bool is_still;
uint8_t stage; uint8_t stage;
bool impact; bool impact;
uint16_t status;
};
class LogStatus {
public:
enum class Bit : uint16_t {
IS_FLYING = 1U<<0, // vehicle thinks it is flying
ARMED = 1U<<1, // vehicle is armed
CRASHED = 1U<<2, // vehicle believes itself to be crashed
STILL = 1U<<3, // vehicle is not moving on any axis
IMPACT = 1U<<4, // vehicle has suffered some sort of impact
};
void set(Bit bit, bool new_value) {
if (!new_value) {
value &= ~(uint16_t(bit));
return;
}
set(bit);
}
void set(Bit bit) {
value |= (uint16_t(bit));
}
bool get(Bit bit) const {
return value & (uint16_t(bit));
}
void clear(Bit bit) {
value &= ~(uint16_t(bit));
}
operator uint16_t() {
return value;
}
uint16_t value = 0;
}; };
void Plane::Log_Write_Status() void Plane::Log_Write_Status()
{ {
struct log_Status pkt = { LogStatus status;
LOG_PACKET_HEADER_INIT(LOG_STATUS_MSG) status.set(LogStatus::Bit::IS_FLYING, is_flying());
,time_us : AP_HAL::micros64() status.set(LogStatus::Bit::ARMED, hal.util->get_soft_armed());
,is_flying : is_flying() status.set(LogStatus::Bit::CRASHED, crash_state.is_crashed);
,is_flying_probability : isFlyingProbability status.set(LogStatus::Bit::STILL, AP::ins().is_still());
,armed : hal.util->get_soft_armed() status.set(LogStatus::Bit::IMPACT, crash_state.impact_detected);
,safety : static_cast<uint8_t>(hal.util->safety_switch_state())
,is_crashed : crash_state.is_crashed const struct log_Status pkt {
,is_still : AP::ins().is_still() LOG_PACKET_HEADER_INIT(LOG_STATUS_MSG),
,stage : static_cast<uint8_t>(flight_stage) time_us : AP_HAL::micros64(),
,impact : crash_state.impact_detected is_flying : status.get(LogStatus::Bit::IS_FLYING),
}; is_flying_probability : isFlyingProbability,
armed : status.get(LogStatus::Bit::ARMED),
safety : static_cast<uint8_t>(hal.util->safety_switch_state()),
is_crashed : status.get(LogStatus::Bit::CRASHED),
is_still : status.get(LogStatus::Bit::STILL),
stage : static_cast<uint8_t>(flight_stage),
impact : status.get(LogStatus::Bit::IMPACT),
status : status,
};
logger.WriteBlock(&pkt, sizeof(pkt)); logger.WriteBlock(&pkt, sizeof(pkt));
} }
@ -376,8 +417,10 @@ const struct LogStructure Plane::log_structure[] = {
// @Field: Still: True when vehicle is not moving in any axis // @Field: Still: True when vehicle is not moving in any axis
// @Field: Stage: Current stage of the flight // @Field: Stage: Current stage of the flight
// @Field: Hit: True if impact is detected // @Field: Hit: True if impact is detected
// @Field: Bit: bitmask of vehicle state information
// @FieldBitmaskEnum: Bit: LogStatus::Bit
{ LOG_STATUS_MSG, sizeof(log_Status), { LOG_STATUS_MSG, sizeof(log_Status),
"STAT", "QBfBBBBBB", "TimeUS,isFlying,isFlyProb,Armed,Safety,Crash,Still,Stage,Hit", "s--------", "F--------" , true }, "STAT", "QBfBBBBBBH", "TimeUS,isFlying,isFlyProb,Armed,Safety,Crash,Still,Stage,Hit,Bit", "s---------", "F---------" , true },
// @LoggerMessage: QTUN // @LoggerMessage: QTUN
// @Description: QuadPlane vertical tuning message // @Description: QuadPlane vertical tuning message