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AP_Logger: log RCIN channels 14 and 15 in RCI2

This commit is contained in:
Peter Barker 2020-08-19 18:56:50 +10:00 committed by Andrew Tridgell
parent e5e092d077
commit 716e7622be
3 changed files with 31 additions and 1 deletions
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3
libraries/AP_Logger/AP_Logger.h
View File

@ -448,6 +448,9 @@ private:
bool _armed;
// state to help us not log unneccesary RCIN values:
bool seen_nonzero_rcin15_or_rcin16;
void Write_Baro_instance(uint64_t time_us, uint8_t baro_instance, enum LogMessages type);
void Write_IMU_instance(uint64_t time_us,
uint8_t imu_instance,

19
libraries/AP_Logger/LogFile.cpp
View File

@ -185,7 +185,7 @@ void AP_Logger::Write_GPS(uint8_t i, uint64_t time_us)
// Write an RCIN packet
void AP_Logger::Write_RCIN(void)
{
uint16_t values[14] = {};
uint16_t values[16] = {};
rc().get_radio_in(values, ARRAY_SIZE(values));
const struct log_RCIN pkt{
LOG_PACKET_HEADER_INIT(LOG_RCIN_MSG),
@ -206,6 +206,23 @@ void AP_Logger::Write_RCIN(void)
chan14 : values[13]
};
WriteBlock(&pkt, sizeof(pkt));
// don't waste logging bandwidth if we haven't seen non-zero
// channels 15/16:
if (!seen_nonzero_rcin15_or_rcin16) {
if (!values[14] && !values[15]) {
return;
}
seen_nonzero_rcin15_or_rcin16 = true;
}
const struct log_RCIN2 pkt2{
LOG_PACKET_HEADER_INIT(LOG_RCIN2_MSG),
time_us : AP_HAL::micros64(),
chan15 : values[14],
chan16 : values[15]
};
WriteBlock(&pkt2, sizeof(pkt2));
}
// Write an SERVO packet

10
libraries/AP_Logger/LogStructure.h
View File

@ -304,6 +304,13 @@ struct PACKED log_RCIN {
uint16_t chan14;
};
struct PACKED log_RCIN2 {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t chan15;
uint16_t chan16;
};
struct PACKED log_RCOUT {
LOG_PACKET_HEADER;
uint64_t time_us;
@ -2450,6 +2457,8 @@ struct PACKED log_Winch {
"MSG", "QZ", "TimeUS,Message", "s-", "F-"}, \
{ LOG_RCIN_MSG, sizeof(log_RCIN), \
"RCIN", "QHHHHHHHHHHHHHH", "TimeUS,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14", "sYYYYYYYYYYYYYY", "F--------------" }, \
{ LOG_RCIN2_MSG, sizeof(log_RCIN2), \
"RCI2", "QHH", "TimeUS,C15,C16", "sYY", "F--" }, \
{ LOG_RCOUT_MSG, sizeof(log_RCOUT), \
"RCOU", "QHHHHHHHHHHHHHH", "TimeUS,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14", "sYYYYYYYYYYYYYY", "F--------------" }, \
{ LOG_RSSI_MSG, sizeof(log_RSSI), \
@ -2693,6 +2702,7 @@ enum LogMessages : uint8_t {
LOG_IMU_MSG,
LOG_MESSAGE_MSG,
LOG_RCIN_MSG,
LOG_RCIN2_MSG,
LOG_RCOUT_MSG,
LOG_RSSI_MSG,
LOG_IMU2_MSG,