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AP_Logger: add loging of servo out 15 to 32

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This commit is contained in:
Iampete1 2021-01-12 01:44:07 +00:00 committed by Andrew Tridgell
parent bda280bcf1
commit 8110b9ac2d
2 changed files with 77 additions and 1 deletions
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35
libraries/AP_Logger/LogFile.cpp
View File

@ -197,6 +197,41 @@ void AP_Logger::Write_RCOUT(void)
chan14 : hal.rcout->read(13)
};
WriteBlock(&pkt, sizeof(pkt));
#if NUM_SERVO_CHANNELS >= 15
const struct log_RCOUT2 pkt2{
LOG_PACKET_HEADER_INIT(LOG_RCOUT2_MSG),
time_us : AP_HAL::micros64(),
chan15 : hal.rcout->read(14),
chan16 : hal.rcout->read(15),
chan17 : hal.rcout->read(16),
chan18 : hal.rcout->read(17),
};
WriteBlock(&pkt2, sizeof(pkt2));
#endif
#if NUM_SERVO_CHANNELS >= 19
const struct log_RCOUT pkt3{
LOG_PACKET_HEADER_INIT(LOG_RCOUT3_MSG),
time_us : AP_HAL::micros64(),
chan1 : hal.rcout->read(18),
chan2 : hal.rcout->read(19),
chan3 : hal.rcout->read(20),
chan4 : hal.rcout->read(21),
chan5 : hal.rcout->read(22),
chan6 : hal.rcout->read(23),
chan7 : hal.rcout->read(24),
chan8 : hal.rcout->read(25),
chan9 : hal.rcout->read(26),
chan10 : hal.rcout->read(27),
chan11 : hal.rcout->read(28),
chan12 : hal.rcout->read(29),
chan13 : hal.rcout->read(30),
chan14 : hal.rcout->read(31)
};
WriteBlock(&pkt3, sizeof(pkt3));
#endif
}
// Write an RSSI packet

43
libraries/AP_Logger/LogStructure.h
View File

@ -284,6 +284,15 @@ struct PACKED log_RCOUT {
uint16_t chan14;
};
struct PACKED log_RCOUT2 {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t chan15;
uint16_t chan16;
uint16_t chan17;
uint16_t chan18;
};
struct PACKED log_MAV {
LOG_PACKET_HEADER;
uint64_t time_us;
@ -1001,7 +1010,7 @@ struct PACKED log_VER {
// @Field: C14: channel 14 input
// @LoggerMessage: RCOU
// @Description: Servo channel output values
// @Description: Servo channel output values 1 to 14
// @Field: TimeUS: Time since system startup
// @Field: C1: channel 1 output
// @Field: C2: channel 2 output
@ -1018,6 +1027,32 @@ struct PACKED log_VER {
// @Field: C13: channel 13 output
// @Field: C14: channel 14 output
// @LoggerMessage: RCO2
// @Description: Servo channel output values 15 to 18
// @Field: TimeUS: Time since system startup
// @Field: C15: channel 15 output
// @Field: C16: channel 16 output
// @Field: C17: channel 17 output
// @Field: C18: channel 18 output
// @LoggerMessage: RCO3
// @Description: Servo channel output values 19 to 32
// @Field: TimeUS: Time since system startup
// @Field: C19: channel 19 output
// @Field: C20: channel 20 output
// @Field: C21: channel 21 output
// @Field: C22: channel 22 output
// @Field: C23: channel 23 output
// @Field: C24: channel 24 output
// @Field: C25: channel 25 output
// @Field: C26: channel 26 output
// @Field: C27: channel 27 output
// @Field: C28: channel 28 output
// @Field: C29: channel 29 output
// @Field: C30: channel 30 output
// @Field: C31: channel 31 output
// @Field: C32: channel 32 output
// @LoggerMessage: RFND
// @Description: Rangefinder sensor information
// @Field: TimeUS: Time since system startup
@ -1188,6 +1223,10 @@ LOG_STRUCTURE_FROM_GPS \
"RCI2", "QHHH", "TimeUS,C15,C16,OMask", "sYY-", "F---", true }, \
{ 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--------------", true }, \
{ LOG_RCOUT2_MSG, sizeof(log_RCOUT2), \
"RCO2", "QHHHH", "TimeUS,C15,C16,C17,C18", "sYYYY", "F----", true }, \
{ LOG_RCOUT3_MSG, sizeof(log_RCOUT), \
"RCO3", "QHHHHHHHHHHHHHH", "TimeUS,C19,C20,C21,C22,C23,C24,C25,C26,C27,C28,C29,C30,C31,C32", "sYYYYYYYYYYYYYY", "F--------------", true }, \
{ LOG_RSSI_MSG, sizeof(log_RSSI), \
"RSSI", "Qff", "TimeUS,RXRSSI,RXLQ", "s--", "F--", true }, \
LOG_STRUCTURE_FROM_BARO \
@ -1369,6 +1408,8 @@ enum LogMessages : uint8_t {
LOG_VIDEO_STABILISATION_MSG,
LOG_MOTBATT_MSG,
LOG_VER_MSG,
LOG_RCOUT2_MSG,
LOG_RCOUT3_MSG,
_LOG_LAST_MSG_
};