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Rover: add rpm to WENC dataflash logging

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This commit is contained in:
Randy Mackay 2017-12-01 15:32:12 +09:00
parent 015d71bacd
commit 865fb91676
1 changed files with 6 additions and 2 deletions
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8
APMrover2/Log.cpp
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@ -303,8 +303,10 @@ struct PACKED log_WheelEncoder {
uint64_t time_us;
float distance_0;
uint8_t quality_0;
float rpm_0;
float distance_1;
uint8_t quality_1;
float rpm_1;
};
// log wheel encoder information
@ -319,8 +321,10 @@ void Rover::Log_Write_WheelEncoder()
time_us : AP_HAL::micros64(),
distance_0 : g2.wheel_encoder.get_distance(0),
quality_0 : (uint8_t)constrain_float(g2.wheel_encoder.get_signal_quality(0), 0.0f, 100.0f),
rpm_0 : wheel_encoder_rpm[0],
distance_1 : g2.wheel_encoder.get_distance(1),
quality_1 : (uint8_t)constrain_float(g2.wheel_encoder.get_signal_quality(1), 0.0f, 100.0f)
quality_1 : (uint8_t)constrain_float(g2.wheel_encoder.get_signal_quality(1), 0.0f, 100.0f),
rpm_1 : wheel_encoder_rpm[1]
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
@ -349,7 +353,7 @@ const LogStructure Rover::log_structure[] = {
{ LOG_ERROR_MSG, sizeof(log_Error),
"ERR", "QBB", "TimeUS,Subsys,ECode", "s--", "F--" },
{ LOG_WHEELENCODER_MSG, sizeof(log_WheelEncoder),
"WENC", "Qfbfb", "TimeUS,Dist0,Qual0,Dist1,Qual1", "sm-m-", "F0-0-" },
"WENC", "Qfbffbf", "TimeUS,Dist0,Qual0,RPM0,Dist1,Qual1,RPM1", "sm-qm-q", "F0--0--" },
};
void Rover::log_init(void)