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DataFlash: Handle multiple compass instances natively inside the Library.

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This commit is contained in:
Robert Lefebvre 2015-01-16 17:27:01 -05:00 committed by Randy Mackay
parent b3aab67239
commit 80929c389e
2 changed files with 49 additions and 21 deletions
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2
libraries/DataFlash/DataFlash.h
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@ -84,7 +84,7 @@ public:
void Log_Write_Airspeed(AP_Airspeed &airspeed); void Log_Write_Airspeed(AP_Airspeed &airspeed);
void Log_Write_Attitude(AP_AHRS &ahrs, Vector3f targets); void Log_Write_Attitude(AP_AHRS &ahrs, Vector3f targets);
void Log_Write_Current(AP_BattMonitor battery, int16_t throttle); void Log_Write_Current(AP_BattMonitor battery, int16_t throttle);
void Log_Write_Compass(const Compass &compass, uint8_t instance); void Log_Write_Compass(const Compass &compass);
void Log_Write_Mode(uint8_t mode); void Log_Write_Mode(uint8_t mode);
bool logging_started(void) const { return log_write_started; } bool logging_started(void) const { return log_write_started; }

68
libraries/DataFlash/LogFile.cpp
View File

@ -1143,28 +1143,13 @@ void DataFlash_Class::Log_Write_Current(AP_BattMonitor battery, int16_t throttl
} }
// Write a Compass packet // Write a Compass packet
void DataFlash_Class::Log_Write_Compass(const Compass &compass, uint8_t instance) void DataFlash_Class::Log_Write_Compass(const Compass &compass)
{ {
uint8_t log_compass_num ; const Vector3f &mag_field = compass.get_field(0);
switch (instance) { const Vector3f &mag_offsets = compass.get_offsets(0);
case 0: const Vector3f &mag_motor_offsets = compass.get_motor_offsets(0);
log_compass_num = LOG_COMPASS_MSG;
break;
case 1:
log_compass_num = LOG_COMPASS2_MSG;
break;
case 2:
log_compass_num = LOG_COMPASS3_MSG;
break;
default:
log_compass_num = LOG_COMPASS_MSG;
break;
}
const Vector3f &mag_field = compass.get_field(instance);
const Vector3f &mag_offsets = compass.get_offsets(instance);
const Vector3f &mag_motor_offsets = compass.get_motor_offsets(instance);
struct log_Compass pkt = { struct log_Compass pkt = {
LOG_PACKET_HEADER_INIT(log_compass_num), LOG_PACKET_HEADER_INIT(LOG_COMPASS_MSG),
time_ms : hal.scheduler->millis(), time_ms : hal.scheduler->millis(),
mag_x : (int16_t)mag_field.x, mag_x : (int16_t)mag_field.x,
mag_y : (int16_t)mag_field.y, mag_y : (int16_t)mag_field.y,
@ -1177,6 +1162,49 @@ void DataFlash_Class::Log_Write_Compass(const Compass &compass, uint8_t instance
motor_offset_z : (int16_t)mag_motor_offsets.z motor_offset_z : (int16_t)mag_motor_offsets.z
}; };
WriteBlock(&pkt, sizeof(pkt)); WriteBlock(&pkt, sizeof(pkt));
#if COMPASS_MAX_INSTANCES > 1
if (compass.get_count() > 1) {
const Vector3f &mag_field2 = compass.get_field(1);
const Vector3f &mag_offsets2 = compass.get_offsets(1);
const Vector3f &mag_motor_offsets2 = compass.get_motor_offsets(1);
struct log_Compass pkt2 = {
LOG_PACKET_HEADER_INIT(LOG_COMPASS2_MSG),
time_ms : hal.scheduler->millis(),
mag_x : (int16_t)mag_field2.x,
mag_y : (int16_t)mag_field2.y,
mag_z : (int16_t)mag_field2.z,
offset_x : (int16_t)mag_offsets2.x,
offset_y : (int16_t)mag_offsets2.y,
offset_z : (int16_t)mag_offsets2.z,
motor_offset_x : (int16_t)mag_motor_offsets2.x,
motor_offset_y : (int16_t)mag_motor_offsets2.y,
motor_offset_z : (int16_t)mag_motor_offsets2.z
};
WriteBlock(&pkt2, sizeof(pkt2));
}
#endif
#if COMPASS_MAX_INSTANCES > 2
if (compass.get_count() > 2) {
const Vector3f &mag_field3 = compass.get_field(2);
const Vector3f &mag_offsets3 = compass.get_offsets(2);
const Vector3f &mag_motor_offsets3 = compass.get_motor_offsets(2);
struct log_Compass pkt3 = {
LOG_PACKET_HEADER_INIT(LOG_COMPASS3_MSG),
time_ms : hal.scheduler->millis(),
mag_x : (int16_t)mag_field3.x,
mag_y : (int16_t)mag_field3.y,
mag_z : (int16_t)mag_field3.z,
offset_x : (int16_t)mag_offsets3.x,
offset_y : (int16_t)mag_offsets3.y,
offset_z : (int16_t)mag_offsets3.z,
motor_offset_x : (int16_t)mag_motor_offsets3.x,
motor_offset_y : (int16_t)mag_motor_offsets3.y,
motor_offset_z : (int16_t)mag_motor_offsets3.z
};
WriteBlock(&pkt3, sizeof(pkt3));
}
#endif
} }
// Write a mode packet. // Write a mode packet.