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Copter: log using mission commands

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This commit is contained in:
Randy Mackay 2014-02-28 11:16:33 +09:00
parent 43c7310540
commit 6e0e672fb2
2 changed files with 16 additions and 12 deletions
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20
ArduCopter/Log.pde
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@ -435,18 +435,18 @@ struct PACKED log_Cmd {
};
// Write a command processing packet
static void Log_Write_Cmd(uint8_t num, const struct Location *wp)
static void Log_Write_Cmd(const AP_Mission::Mission_Command& cmd)
{
struct log_Cmd pkt = {
LOG_PACKET_HEADER_INIT(LOG_CMD_MSG),
command_total : g.command_total,
command_number : num,
waypoint_id : wp->id,
waypoint_options : wp->options,
waypoint_param1 : wp->p1,
waypoint_altitude : wp->alt,
waypoint_latitude : wp->lat,
waypoint_longitude : wp->lng
command_total : (uint8_t)mission.num_commands(),
command_number : cmd.index,
waypoint_id : cmd.id,
waypoint_options : cmd.content.location.options,
waypoint_param1 : cmd.content.location.p1,
waypoint_altitude : cmd.content.location.alt,
waypoint_latitude : cmd.content.location.lat,
waypoint_longitude : cmd.content.location.lng
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
@ -781,7 +781,7 @@ static void start_logging()
#else // LOGGING_ENABLED
static void Log_Write_Startup() {}
static void Log_Write_Cmd(uint8_t num, const struct Location *wp) {}
static void Log_Write_Cmd(const AP_Mission::Mission_Command& cmd) {}
static void Log_Write_Mode(uint8_t mode) {}
static void Log_Write_IMU() {}
static void Log_Write_GPS() {}

8
ArduCopter/commands.pde
View File

@ -20,8 +20,12 @@ static void init_home()
inertial_nav.setup_home_position();
if (g.log_bitmask & MASK_LOG_CMD)
Log_Write_Cmd(0, &home);
// log new home position which mission library will pull from ahrs
if (g.log_bitmask & MASK_LOG_CMD) {
AP_Mission::Mission_Command temp_cmd;
mission.read_cmd_from_storage(0, temp_cmd);
Log_Write_Cmd(temp_cmd);
}
// update navigation scalers. used to offset the shrinking longitude as we go towards the poles
scaleLongDown = longitude_scale(home);