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Copter: Compass log stores/retrieves motor offsets

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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
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16
ArduCopter/Log.pde
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@ -588,12 +588,16 @@ struct log_Compass {
int16_t offset_x;
int16_t offset_y;
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
static void Log_Write_Compass()
{
Vector3f mag_offsets = compass.get_offsets();
Vector3f mag_motor_offsets = compass.get_motor_offsets();
struct log_Compass pkt = {
LOG_PACKET_HEADER_INIT(LOG_COMPASS_MSG),
mag_x : compass.mag_x,
@ -602,6 +606,9 @@ static void Log_Write_Compass()
offset_x : (int16_t)mag_offsets.x,
offset_y : (int16_t)mag_offsets.y,
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));
}
@ -611,14 +618,17 @@ static void Log_Read_Compass()
{
struct log_Compass pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
// 1 2 3 4 5 6
cliSerial->printf_P(PSTR("COMPASS, %d, %d, %d, %d, %d, %d\n"),
// 1 2 3 4 5 6 7 8 9
cliSerial->printf_P(PSTR("COMPASS, %d, %d, %d, %d, %d, %d, %d, %d, %d\n"),
(int)pkt.mag_x,
(int)pkt.mag_y,
(int)pkt.mag_z,
(int)pkt.offset_x,
(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 {