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https://github.com/ArduPilot/ardupilot
synced 2025-02-22 07:44:03 -04:00
re-org'ed the logs
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2231 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort
parent
be3647a234
commit
7d38020d5f
@ -33,7 +33,7 @@
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# define LOG_ATTITUDE_FAST DISABLED
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# define LOG_ATTITUDE_MED DISABLED
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# define LOG_GPS ENABLED
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# define LOG_PM DISABLED
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# define LOG_PM ENABLED
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# define LOG_CTUN ENABLED
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# define LOG_NTUN ENABLED
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# define LOG_MODE ENABLED
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@ -493,7 +493,9 @@ void loop()
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if (millis() - perf_mon_timer > 20000) {
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if (mainLoop_count != 0) {
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gcs.send_message(MSG_PERF_REPORT);
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if (g.log_bitmask & MASK_LOG_PM)
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Log_Write_Performance();
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@ -632,7 +634,7 @@ void medium_loop()
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medium_loopCounter++;
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if (g.log_bitmask & MASK_LOG_ATTITUDE_MED && !(g.log_bitmask & MASK_LOG_ATTITUDE_FAST))
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Log_Write_Attitude((int)dcm.roll_sensor, (int)dcm.pitch_sensor, (uint16_t)dcm.yaw_sensor);
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Log_Write_Attitude();
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#if HIL_MODE != HIL_MODE_ATTITUDE
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if (g.log_bitmask & MASK_LOG_CTUN)
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@ -697,7 +699,7 @@ void medium_loop()
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//calc_distance_error();
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if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST)
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Log_Write_Attitude((int)dcm.roll_sensor, (int)dcm.pitch_sensor, (uint16_t)dcm.yaw_sensor);
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Log_Write_Attitude();
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#if HIL_MODE != HIL_MODE_ATTITUDE
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if (g.log_bitmask & MASK_LOG_RAW)
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@ -320,35 +320,6 @@ int find_last_log_page(int bottom_page)
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}
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// Write an attitude packet. Total length : 10 bytes
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void Log_Write_Attitude(int log_roll, int log_pitch, uint16_t log_yaw)
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{
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DataFlash.WriteByte(HEAD_BYTE1);
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DataFlash.WriteByte(HEAD_BYTE2);
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DataFlash.WriteByte(LOG_ATTITUDE_MSG);
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DataFlash.WriteInt(log_roll);
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DataFlash.WriteInt(log_pitch);
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DataFlash.WriteInt(log_yaw);
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DataFlash.WriteByte(END_BYTE);
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}
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// Write a performance monitoring packet. Total length : 19 bytes
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void Log_Write_Performance()
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{
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DataFlash.WriteByte(HEAD_BYTE1);
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DataFlash.WriteByte(HEAD_BYTE2);
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DataFlash.WriteByte(LOG_PERFORMANCE_MSG);
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DataFlash.WriteLong(millis()- perf_mon_timer);
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DataFlash.WriteInt(mainLoop_count);
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DataFlash.WriteInt(G_Dt_max);
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DataFlash.WriteByte(dcm.gyro_sat_count);
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DataFlash.WriteByte(imu.adc_constraints);
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DataFlash.WriteByte(dcm.renorm_sqrt_count);
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DataFlash.WriteByte(dcm.renorm_blowup_count);
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DataFlash.WriteByte(gps_fix_count);
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DataFlash.WriteInt((int)(dcm.get_health() * 1000));
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DataFlash.WriteByte(END_BYTE);
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}
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// Write a command processing packet. Total length : 19 bytes
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//void Log_Write_Cmd(byte num, byte id, byte p1, long alt, long lat, long lng)
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@ -384,7 +355,6 @@ void Log_Write_Nav_Tuning()
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DataFlash.WriteInt((int)sonar_alt); // 8
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DataFlash.WriteInt((int)baro_alt); // 9
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DataFlash.WriteInt((int)home.alt); // 10
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DataFlash.WriteInt((int)next_WP.alt); // 11
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DataFlash.WriteInt((int)altitude_error); // 12
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@ -402,6 +372,7 @@ void Log_Read_Nav_Tuning()
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DataFlash.ReadInt(), //yaw sensor
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DataFlash.ReadInt(), //distance
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DataFlash.ReadByte(), //bitmask
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DataFlash.ReadInt(), //target bearing
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DataFlash.ReadInt(), //nav bearing
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@ -536,17 +507,15 @@ void Log_Write_Control_Tuning()
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DataFlash.WriteInt((int)(g.rc_4.servo_out));
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// yaw
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DataFlash.WriteByte(yaw_debug);
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DataFlash.WriteInt((int)yaw_error);
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DataFlash.WriteInt((int)(dcm.yaw_sensor/100));
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// Yaw mode
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DataFlash.WriteByte(yaw_debug);
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// Gyro Rates
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DataFlash.WriteInt((int)(omega.x * 1000));
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DataFlash.WriteInt((int)(omega.y * 1000));
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DataFlash.WriteInt((int)(omega.z * 1000));
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// Pitch/roll
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DataFlash.WriteInt((int)(dcm.pitch_sensor/100));
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DataFlash.WriteInt((int)(dcm.roll_sensor/100));
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DataFlash.WriteInt((int)g.throttle_cruise);
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DataFlash.WriteInt((int)g.pid_baro_throttle.get_integrator());
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DataFlash.WriteInt((int)g.pid_sonar_throttle.get_integrator());
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@ -563,7 +532,11 @@ void Log_Write_Control_Tuning()
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// Read an control tuning packet
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void Log_Read_Control_Tuning()
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{
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Serial.printf_P(PSTR("CTUN, %d, %d, %d, %d, %d, %d, %d, %1.4f, %1.4f, %1.4f, %d, %d, %d\n"),
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Serial.printf_P(PSTR( "CTUN, %d, %d, %d, %d, "
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"%d, %d, %d, %1.4f, "
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"%d, %d, "
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"%d, %d, %d\n"),
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// Control
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DataFlash.ReadInt(),
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DataFlash.ReadInt(),
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@ -571,29 +544,40 @@ void Log_Read_Control_Tuning()
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DataFlash.ReadInt(),
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// yaw
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DataFlash.ReadInt(),
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DataFlash.ReadInt(),
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// Yaw Mode
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(int)DataFlash.ReadByte(),
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DataFlash.ReadInt(),
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DataFlash.ReadInt(),
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(float)DataFlash.ReadInt() / 1000.0,// Gyro Rate
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// Gyro Rates
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(float)DataFlash.ReadInt() / 1000.0,
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(float)DataFlash.ReadInt() / 1000.0,
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(float)DataFlash.ReadInt() / 1000.0,
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// Position
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//DataFlash.ReadInt(),
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//DataFlash.ReadInt(),
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//(long)DataFlash.ReadInt() * 10);
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// Pitch/roll
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DataFlash.ReadInt(),
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DataFlash.ReadInt(),
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// Alt Hold
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DataFlash.ReadInt(),
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DataFlash.ReadInt(),
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DataFlash.ReadInt());
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}
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// Write a performance monitoring packet. Total length : 19 bytes
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void Log_Write_Performance()
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{
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DataFlash.WriteByte(HEAD_BYTE1);
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DataFlash.WriteByte(HEAD_BYTE2);
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DataFlash.WriteByte(LOG_PERFORMANCE_MSG);
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DataFlash.WriteLong( millis()- perf_mon_timer);
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DataFlash.WriteInt( mainLoop_count);
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DataFlash.WriteInt( G_Dt_max);
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DataFlash.WriteByte( dcm.gyro_sat_count);
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DataFlash.WriteByte( imu.adc_constraints);
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DataFlash.WriteByte( dcm.renorm_sqrt_count);
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DataFlash.WriteByte( dcm.renorm_blowup_count);
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DataFlash.WriteByte( gps_fix_count);
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DataFlash.WriteInt( (int)(dcm.get_health() * 1000));
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DataFlash.WriteByte(END_BYTE);
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}
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// Read a performance packet
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void Log_Read_Performance()
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@ -601,7 +585,7 @@ void Log_Read_Performance()
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long pm_time;
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int logvar;
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Serial.printf_P(PSTR("PM:"));
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Serial.printf_P(PSTR("PM,"));
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pm_time = DataFlash.ReadLong();
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Serial.print(pm_time);
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Serial.print(comma);
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@ -637,10 +621,23 @@ void Log_Read_Cmd()
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Serial.println(" ");
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}
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// Write an attitude packet. Total length : 10 bytes
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void Log_Write_Attitude()
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{
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, (int)dcm.pitch_sensor, (uint16_t)dcm.yaw_sensor
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DataFlash.WriteByte(HEAD_BYTE1);
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DataFlash.WriteByte(HEAD_BYTE2);
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DataFlash.WriteByte(LOG_ATTITUDE_MSG);
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DataFlash.WriteInt((int)dcm.roll_sensor);
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DataFlash.WriteInt((int)dcm.pitch_sensor);
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DataFlash.WriteInt((uint16_t)dcm.yaw_sensor);
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DataFlash.WriteByte(END_BYTE);
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}
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// Read an attitude packet
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void Log_Read_Attitude()
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{
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Serial.printf_P(PSTR("ATT: %d, %d, %u\n"),
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Serial.printf_P(PSTR("ATT, %d, %d, %u\n"),
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DataFlash.ReadInt(),
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DataFlash.ReadInt(),
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(uint16_t)DataFlash.ReadInt());
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@ -657,7 +654,7 @@ void Log_Read_Mode()
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void Log_Read_Raw()
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{
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float logvar;
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Serial.printf_P(PSTR("RAW:"));
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Serial.printf_P(PSTR("RAW,"));
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for (int y = 0; y < 6; y++) {
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logvar = (float)DataFlash.ReadLong() / t7;
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Serial.print(logvar);
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