mirror of https://github.com/ArduPilot/ardupilot
Rover: rename RAW dataflash message to IMU
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7297a1ff83
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@ -707,8 +707,8 @@ static void fast_loop()
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if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST)
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Log_Write_Attitude((int)ahrs.roll_sensor, (int)ahrs.pitch_sensor, (uint16_t)ahrs.yaw_sensor);
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if (g.log_bitmask & MASK_LOG_RAW)
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Log_Write_Raw();
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if (g.log_bitmask & MASK_LOG_IMU)
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Log_Write_IMU();
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#endif
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#endif
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// inertial navigation
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@ -55,7 +55,7 @@ print_log_menu(void)
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PLOG(CTUN);
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PLOG(NTUN);
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PLOG(MODE);
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PLOG(RAW);
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PLOG(IMU);
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PLOG(CMD);
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PLOG(CUR);
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#undef PLOG
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@ -176,7 +176,7 @@ select_logs(uint8_t argc, const Menu::arg *argv)
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TARG(CTUN);
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TARG(NTUN);
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TARG(MODE);
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TARG(RAW);
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TARG(IMU);
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TARG(CMD);
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TARG(CUR);
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#undef TARG
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@ -337,7 +337,7 @@ static void Log_Write_GPS( int32_t log_Time, int32_t log_Lattitude, int32_t log_
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// Write an raw accel/gyro data packet. Total length : 28 bytes
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#if HIL_MODE != HIL_MODE_ATTITUDE
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static void Log_Write_Raw()
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static void Log_Write_IMU()
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{
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Vector3f gyro = ins.get_gyro();
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Vector3f accel = ins.get_accel();
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@ -345,7 +345,7 @@ static void Log_Write_Raw()
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accel *= t7;
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DataFlash.WriteByte(HEAD_BYTE1);
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DataFlash.WriteByte(HEAD_BYTE2);
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DataFlash.WriteByte(LOG_RAW_MSG);
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DataFlash.WriteByte(LOG_IMU_MSG);
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DataFlash.WriteLong((long)gyro.x);
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DataFlash.WriteLong((long)gyro.y);
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@ -526,10 +526,10 @@ static void Log_Read_GPS()
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}
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// Read a raw accel/gyro packet
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static void Log_Read_Raw()
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static void Log_Read_IMU()
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{
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float logvar;
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cliSerial->printf_P(PSTR("RAW: "));
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cliSerial->printf_P(PSTR("IMU: "));
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for (int y = 0; y < 6; y++) {
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logvar = (float)DataFlash.ReadLong() / t7;
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cliSerial->print(logvar);
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@ -573,8 +573,8 @@ static void log_callback(uint8_t msgid)
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Log_Read_Performance();
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break;
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case LOG_RAW_MSG:
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Log_Read_Raw();
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case LOG_IMU_MSG:
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Log_Read_IMU();
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break;
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case LOG_CMD_MSG:
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@ -609,7 +609,7 @@ static void Log_Write_Performance() {}
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static int8_t process_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
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static void Log_Write_Attitude(int16_t log_roll, int16_t log_pitch, uint16_t log_yaw) {}
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static void Log_Write_Control_Tuning() {}
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static void Log_Write_Raw() {}
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static void Log_Write_IMU() {}
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#endif // LOGGING_ENABLED
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@ -655,8 +655,8 @@
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#ifndef LOG_MODE
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# define LOG_MODE ENABLED
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#endif
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#ifndef LOG_RAW
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# define LOG_RAW DISABLED
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#ifndef LOG_IMU
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# define LOG_IMU DISABLED
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#endif
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#ifndef LOG_CMD
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# define LOG_CMD ENABLED
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@ -676,7 +676,7 @@
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LOGBIT(CTUN) | \
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LOGBIT(NTUN) | \
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LOGBIT(MODE) | \
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LOGBIT(RAW) | \
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LOGBIT(IMU) | \
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LOGBIT(CMD) | \
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LOGBIT(CUR)
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@ -140,7 +140,7 @@ enum gcs_severity {
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#define LOG_CONTROL_TUNING_MSG 0X04
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#define LOG_NAV_TUNING_MSG 0X05
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#define LOG_PERFORMANCE_MSG 0X06
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#define LOG_RAW_MSG 0x07
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#define LOG_IMU_MSG 0x07
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#define LOG_CMD_MSG 0x08
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#define LOG_CURRENT_MSG 0x09
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#define LOG_STARTUP_MSG 0x0A
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@ -155,7 +155,7 @@ enum gcs_severity {
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#define MASK_LOG_CTUN (1<<4)
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#define MASK_LOG_NTUN (1<<5)
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#define MASK_LOG_MODE (1<<6)
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#define MASK_LOG_RAW (1<<7)
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#define MASK_LOG_IMU (1<<7)
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#define MASK_LOG_CMD (1<<8)
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#define MASK_LOG_CUR (1<<9)
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