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Sub: move motbatt logging into AP_Motors

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Iampete1 2021-12-21 20:42:39 +00:00 committed by Andrew Tridgell
parent c241bf6479
commit 834ec4cea2
4 changed files with 1 additions and 29 deletions
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2
ArduSub/ArduSub.cpp
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@ -207,7 +207,7 @@ void Sub::ten_hz_logging_loop()
} }
} }
if (should_log(MASK_LOG_MOTBATT)) { if (should_log(MASK_LOG_MOTBATT)) {
Log_Write_MotBatt(); motors.Log_Write();
} }
if (should_log(MASK_LOG_RCIN)) { if (should_log(MASK_LOG_RCIN)) {
logger.Write_RCIN(); logger.Write_RCIN();

26
ArduSub/Log.cpp
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@ -65,29 +65,6 @@ void Sub::Log_Write_Attitude()
ahrs.Write_POS(); ahrs.Write_POS();
} }
struct PACKED log_MotBatt {
LOG_PACKET_HEADER;
uint64_t time_us;
float lift_max;
float bat_volt;
float bat_res;
float th_limit;
};
// Write an rate packet
void Sub::Log_Write_MotBatt()
{
struct log_MotBatt pkt_mot = {
LOG_PACKET_HEADER_INIT(LOG_MOTBATT_MSG),
time_us : AP_HAL::micros64(),
lift_max : (float)(motors.get_lift_max()),
bat_volt : (float)(motors.get_batt_voltage_filt()),
bat_res : (float)(battery.get_resistance()),
th_limit : (float)(motors.get_throttle_limit())
};
logger.WriteBlock(&pkt_mot, sizeof(pkt_mot));
}
struct PACKED log_Data_Int16t { struct PACKED log_Data_Int16t {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint64_t time_us; uint64_t time_us;
@ -313,8 +290,6 @@ const struct LogStructure Sub::log_structure[] = {
LOG_COMMON_STRUCTURES, LOG_COMMON_STRUCTURES,
{ LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning), { LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning),
"CTUN", "Qfffffffccfhh", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DSAlt,SAlt,TAlt,DCRt,CRt", "s----mmmmmmnn", "F----00BBBBBB" }, "CTUN", "Qfffffffccfhh", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DSAlt,SAlt,TAlt,DCRt,CRt", "s----mmmmmmnn", "F----00BBBBBB" },
{ LOG_MOTBATT_MSG, sizeof(log_MotBatt),
"MOTB", "Qffff", "TimeUS,LiftMax,BatVolt,BatRes,ThLimit", "s-vw-", "F-00-" },
{ LOG_DATA_INT16_MSG, sizeof(log_Data_Int16t), { LOG_DATA_INT16_MSG, sizeof(log_Data_Int16t),
"D16", "QBh", "TimeUS,Id,Value", "s--", "F--" }, "D16", "QBh", "TimeUS,Id,Value", "s--", "F--" },
{ LOG_DATA_UINT16_MSG, sizeof(log_Data_UInt16t), { LOG_DATA_UINT16_MSG, sizeof(log_Data_UInt16t),
@ -347,7 +322,6 @@ void Sub::log_init()
void Sub::Log_Write_Control_Tuning() {} void Sub::Log_Write_Control_Tuning() {}
void Sub::Log_Write_Attitude(void) {} void Sub::Log_Write_Attitude(void) {}
void Sub::Log_Write_MotBatt() {}
void Sub::Log_Write_Data(LogDataID id, int32_t value) {} void Sub::Log_Write_Data(LogDataID id, int32_t value) {}
void Sub::Log_Write_Data(LogDataID id, uint32_t value) {} void Sub::Log_Write_Data(LogDataID id, uint32_t value) {}
void Sub::Log_Write_Data(LogDataID id, int16_t value) {} void Sub::Log_Write_Data(LogDataID id, int16_t value) {}

1
ArduSub/Sub.h
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@ -408,7 +408,6 @@ private:
void rotate_body_frame_to_NE(float &x, float &y); void rotate_body_frame_to_NE(float &x, float &y);
void Log_Write_Control_Tuning(); void Log_Write_Control_Tuning();
void Log_Write_Attitude(); void Log_Write_Attitude();
void Log_Write_MotBatt();
void Log_Write_Data(LogDataID id, int32_t value); void Log_Write_Data(LogDataID id, int32_t value);
void Log_Write_Data(LogDataID id, uint32_t value); void Log_Write_Data(LogDataID id, uint32_t value);
void Log_Write_Data(LogDataID id, int16_t value); void Log_Write_Data(LogDataID id, int16_t value);

1
ArduSub/defines.h
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@ -90,7 +90,6 @@ enum LoggingParameters {
LOG_DATA_INT32_MSG, LOG_DATA_INT32_MSG,
LOG_DATA_UINT32_MSG, LOG_DATA_UINT32_MSG,
LOG_DATA_FLOAT_MSG, LOG_DATA_FLOAT_MSG,
LOG_MOTBATT_MSG,
LOG_GUIDEDTARGET_MSG LOG_GUIDEDTARGET_MSG
}; };