Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-23 17:18:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: Compass log stores/retrieves motor offsets

Browse Source
This commit is contained in:
Randy Mackay 2013-03-01 17:57:40 +09:00 committed by rmackay9
parent d8515ff85e
commit 6b2b69535f
1 changed files with 19 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

28
ArduCopter/Log.pde
View File

@ -588,20 +588,27 @@ struct log_Compass {
int16_t offset_x; int16_t offset_x;
int16_t offset_y; int16_t offset_y;
int16_t offset_z; int16_t offset_z;
int16_t motor_offset_x;
int16_t motor_offset_y;
int16_t motor_offset_z;
}; };
// Write a Compass packet. Total length : 15 bytes // Write a Compass packet. Total length : 15 bytes
static void Log_Write_Compass() static void Log_Write_Compass()
{ {
Vector3f mag_offsets = compass.get_offsets(); Vector3f mag_offsets = compass.get_offsets();
Vector3f mag_motor_offsets = compass.get_motor_offsets();
struct log_Compass pkt = { struct log_Compass pkt = {
LOG_PACKET_HEADER_INIT(LOG_COMPASS_MSG), LOG_PACKET_HEADER_INIT(LOG_COMPASS_MSG),
mag_x : compass.mag_x, mag_x : compass.mag_x,
mag_y : compass.mag_y, mag_y : compass.mag_y,
mag_z : compass.mag_z, mag_z : compass.mag_z,
offset_x : (int16_t)mag_offsets.x, offset_x : (int16_t)mag_offsets.x,
offset_y : (int16_t)mag_offsets.y, offset_y : (int16_t)mag_offsets.y,
offset_z : (int16_t)mag_offsets.z, offset_z : (int16_t)mag_offsets.z,
motor_offset_x : (int16_t)mag_motor_offsets.x,
motor_offset_y : (int16_t)mag_motor_offsets.y,
motor_offset_z : (int16_t)mag_motor_offsets.z
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); DataFlash.WriteBlock(&pkt, sizeof(pkt));
} }
@ -611,14 +618,17 @@ static void Log_Read_Compass()
{ {
struct log_Compass pkt; struct log_Compass pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt)); DataFlash.ReadPacket(&pkt, sizeof(pkt));
// 1 2 3 4 5 6 // 1 2 3 4 5 6 7 8 9
cliSerial->printf_P(PSTR("COMPASS, %d, %d, %d, %d, %d, %d\n"), cliSerial->printf_P(PSTR("COMPASS, %d, %d, %d, %d, %d, %d, %d, %d, %d\n"),
(int)pkt.mag_x, (int)pkt.mag_x,
(int)pkt.mag_y, (int)pkt.mag_y,
(int)pkt.mag_z, (int)pkt.mag_z,
(int)pkt.offset_x, (int)pkt.offset_x,
(int)pkt.offset_y, (int)pkt.offset_y,
(int)pkt.offset_z); (int)pkt.offset_z,
(int)pkt.motor_offset_x,
(int)pkt.motor_offset_y,
(int)pkt.motor_offset_z);
} }
struct log_Performance { struct log_Performance {