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Rover: rename RAW dataflash message to IMU

This commit is contained in:
Randy Mackay 2013-01-26 17:35:18 +09:00
parent 7297a1ff83
commit 7bfe659626
4 changed files with 22 additions and 22 deletions
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4
APMrover2/APMrover2.pde
View File

@ -707,8 +707,8 @@ static void fast_loop()
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST)
Log_Write_Attitude((int)ahrs.roll_sensor, (int)ahrs.pitch_sensor, (uint16_t)ahrs.yaw_sensor);
if (g.log_bitmask & MASK_LOG_RAW)
Log_Write_Raw();
if (g.log_bitmask & MASK_LOG_IMU)
Log_Write_IMU();
#endif
#endif
// inertial navigation

18
APMrover2/Log.pde
View File

@ -55,7 +55,7 @@ print_log_menu(void)
PLOG(CTUN);
PLOG(NTUN);
PLOG(MODE);
PLOG(RAW);
PLOG(IMU);
PLOG(CMD);
PLOG(CUR);
#undef PLOG
@ -176,7 +176,7 @@ select_logs(uint8_t argc, const Menu::arg *argv)
TARG(CTUN);
TARG(NTUN);
TARG(MODE);
TARG(RAW);
TARG(IMU);
TARG(CMD);
TARG(CUR);
#undef TARG
@ -337,7 +337,7 @@ static void Log_Write_GPS( int32_t log_Time, int32_t log_Lattitude, int32_t log_
// Write an raw accel/gyro data packet. Total length : 28 bytes
#if HIL_MODE != HIL_MODE_ATTITUDE
static void Log_Write_Raw()
static void Log_Write_IMU()
{
Vector3f gyro = ins.get_gyro();
Vector3f accel = ins.get_accel();
@ -345,7 +345,7 @@ static void Log_Write_Raw()
accel *= t7;
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_RAW_MSG);
DataFlash.WriteByte(LOG_IMU_MSG);
DataFlash.WriteLong((long)gyro.x);
DataFlash.WriteLong((long)gyro.y);
@ -526,10 +526,10 @@ static void Log_Read_GPS()
}
// Read a raw accel/gyro packet
static void Log_Read_Raw()
static void Log_Read_IMU()
{
float logvar;
cliSerial->printf_P(PSTR("RAW: "));
cliSerial->printf_P(PSTR("IMU: "));
for (int y = 0; y < 6; y++) {
logvar = (float)DataFlash.ReadLong() / t7;
cliSerial->print(logvar);
@ -573,8 +573,8 @@ static void log_callback(uint8_t msgid)
Log_Read_Performance();
break;
case LOG_RAW_MSG:
Log_Read_Raw();
case LOG_IMU_MSG:
Log_Read_IMU();
break;
case LOG_CMD_MSG:
@ -609,7 +609,7 @@ static void Log_Write_Performance() {}
static int8_t process_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
static void Log_Write_Attitude(int16_t log_roll, int16_t log_pitch, uint16_t log_yaw) {}
static void Log_Write_Control_Tuning() {}
static void Log_Write_Raw() {}
static void Log_Write_IMU() {}
#endif // LOGGING_ENABLED

6
APMrover2/config.h
View File

@ -655,8 +655,8 @@
#ifndef LOG_MODE
# define LOG_MODE ENABLED
#endif
#ifndef LOG_RAW
# define LOG_RAW DISABLED
#ifndef LOG_IMU
# define LOG_IMU DISABLED
#endif
#ifndef LOG_CMD
# define LOG_CMD ENABLED
@ -676,7 +676,7 @@
LOGBIT(CTUN) | \
LOGBIT(NTUN) | \
LOGBIT(MODE) | \
LOGBIT(RAW) | \
LOGBIT(IMU) | \
LOGBIT(CMD) | \
LOGBIT(CUR)

16
APMrover2/defines.h
View File

@ -135,27 +135,27 @@ enum gcs_severity {
// Logging parameters
#define LOG_INDEX_MSG 0xF0
#define LOG_ATTITUDE_MSG 0x01
#define LOG_GPS_MSG 0x02
#define LOG_GPS_MSG 0x02
#define LOG_MODE_MSG 0X03
#define LOG_CONTROL_TUNING_MSG 0X04
#define LOG_CONTROL_TUNING_MSG 0X04
#define LOG_NAV_TUNING_MSG 0X05
#define LOG_PERFORMANCE_MSG 0X06
#define LOG_RAW_MSG 0x07
#define LOG_CMD_MSG 0x08
#define LOG_IMU_MSG 0x07
#define LOG_CMD_MSG 0x08
#define LOG_CURRENT_MSG 0x09
#define LOG_STARTUP_MSG 0x0A
#define TYPE_AIRSTART_MSG 0x00
#define TYPE_GROUNDSTART_MSG 0x01
#define TYPE_GROUNDSTART_MSG 0x01
#define MAX_NUM_LOGS 100
#define MASK_LOG_ATTITUDE_FAST (1<<0)
#define MASK_LOG_ATTITUDE_MED (1<<1)
#define MASK_LOG_ATTITUDE_FAST (1<<0)
#define MASK_LOG_ATTITUDE_MED (1<<1)
#define MASK_LOG_GPS (1<<2)
#define MASK_LOG_PM (1<<3)
#define MASK_LOG_CTUN (1<<4)
#define MASK_LOG_NTUN (1<<5)
#define MASK_LOG_MODE (1<<6)
#define MASK_LOG_RAW (1<<7)
#define MASK_LOG_IMU (1<<7)
#define MASK_LOG_CMD (1<<8)
#define MASK_LOG_CUR (1<<9)