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AP_Logger: VISP message gets velocity error field

This commit is contained in:
Randy Mackay 2020-05-29 10:24:26 +09:00
parent 31763424a3
commit 714975662d
3 changed files with 5 additions and 3 deletions
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2
libraries/AP_Logger/AP_Logger.h
View File

@ -282,7 +282,7 @@ public:
const RallyLocation &rally_point);
void Write_VisualOdom(float time_delta, const Vector3f &angle_delta, const Vector3f &position_delta, float confidence);
void Write_VisualPosition(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw, uint8_t reset_counter);
void Write_VisualVelocity(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter);
void Write_VisualVelocity(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, float vel_err, uint8_t reset_counter);
void Write_AOA_SSA(AP_AHRS &ahrs);
void Write_Beacon(AP_Beacon &beacon);
void Write_Proximity(AP_Proximity &proximity);

3
libraries/AP_Logger/LogFile.cpp
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@ -930,7 +930,7 @@ void AP_Logger::Write_VisualPosition(uint64_t remote_time_us, uint32_t time_ms,
}
// Write visual velocity sensor data, velocity in NED meters per second
void AP_Logger::Write_VisualVelocity(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter)
void AP_Logger::Write_VisualVelocity(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, float vel_err, uint8_t reset_counter)
{
const struct log_VisualVelocity pkt_visualvel {
LOG_PACKET_HEADER_INIT(LOG_VISUALVEL_MSG),
@ -940,6 +940,7 @@ void AP_Logger::Write_VisualVelocity(uint64_t remote_time_us, uint32_t time_ms,
vel_x : vel.x,
vel_y : vel.y,
vel_z : vel.z,
vel_err : vel_err,
reset_counter : reset_counter
};
WriteBlock(&pkt_visualvel, sizeof(log_VisualVelocity));

3
libraries/AP_Logger/LogStructure.h
View File

@ -636,6 +636,7 @@ struct PACKED log_VisualVelocity {
float vel_x;
float vel_y;
float vel_z;
float vel_err;
uint8_t reset_counter;
};
@ -2494,7 +2495,7 @@ struct PACKED log_Arm_Disarm {
{ LOG_VISUALPOS_MSG, sizeof(log_VisualPosition), \
"VISP", "QQIffffffb", "TimeUS,RemTimeUS,CTimeMS,PX,PY,PZ,Roll,Pitch,Yaw,ResetCnt", "sssmmmddh-", "FFC000000-" }, \
{ LOG_VISUALVEL_MSG, sizeof(log_VisualVelocity), \
"VISV", "QQIfffb", "TimeUS,RemTimeUS,CTimeMS,VX,VY,VZ,ResetCnt", "sssnnn-", "FFC000-" }, \
"VISV", "QQIffffb", "TimeUS,RemTimeUS,CTimeMS,VX,VY,VZ,VErr,ResetCnt", "sssnnnn-", "FFC0000-" }, \
{ LOG_OPTFLOW_MSG, sizeof(log_Optflow), \
"OF", "QBffff", "TimeUS,Qual,flowX,flowY,bodyX,bodyY", "s-EEnn", "F-0000" }, \
{ LOG_WHEELENCODER_MSG, sizeof(log_WheelEncoder), \