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AP_Logger: log valid-input and in-rc-failsafe

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Can now sensibly log these now the RC_Channels library has the methods
This commit is contained in:
Peter Barker 2023-09-12 08:53:38 +10:00 committed by Peter Barker
parent ffc553f34f
commit 86aad6f6bf
3 changed files with 22 additions and 21 deletions
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5
libraries/AP_Logger/AP_Logger.h
View File

@ -431,6 +431,11 @@ private:
BLOCK = (1<<2),
};
enum class RCLoggingFlags : uint8_t {
HAS_VALID_INPUT = 1U<<0, // true if the system is receiving good RC values
IN_RC_FAILSAFE = 1U<<1, // true if the system is current in RC failsafe
};
/*
* support for dynamic Write; user-supplies name, format,
* labels and values in a single function call.

27
libraries/AP_Logger/LogFile.cpp
View File

@ -159,28 +159,21 @@ void AP_Logger::Write_RCIN(void)
};
WriteBlock(&pkt, sizeof(pkt));
const uint16_t override_mask = rc().get_override_mask();
// don't waste logging bandwidth if we haven't seen non-zero
// channels 15/16:
if (!should_log_rcin2) {
if (values[14] || values[15]) {
should_log_rcin2 = true;
} else if (override_mask != 0) {
should_log_rcin2 = true;
}
uint8_t flags = 0;
if (rc().has_valid_input()) {
flags |= (uint8_t)AP_Logger::RCLoggingFlags::HAS_VALID_INPUT;
}
if (rc().in_rc_failsafe()) {
flags |= (uint8_t)AP_Logger::RCLoggingFlags::IN_RC_FAILSAFE;
}
if (!should_log_rcin2) {
return;
}
const struct log_RCIN2 pkt2{
LOG_PACKET_HEADER_INIT(LOG_RCIN2_MSG),
const struct log_RCI2 pkt2{
LOG_PACKET_HEADER_INIT(LOG_RCI2_MSG),
time_us : AP_HAL::micros64(),
chan15 : values[14],
chan16 : values[15],
override_mask : override_mask,
override_mask : rc().get_override_mask(),
flags : flags,
};
WriteBlock(&pkt2, sizeof(pkt2));
}

11
libraries/AP_Logger/LogStructure.h
View File

@ -262,12 +262,13 @@ struct PACKED log_RCIN {
uint16_t chan14;
};
struct PACKED log_RCIN2 {
struct PACKED log_RCI2 {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t chan15;
uint16_t chan16;
uint16_t override_mask;
uint8_t flags;
};
struct PACKED log_RCOUT {
@ -971,6 +972,8 @@ struct PACKED log_VER {
// @Field: C15: channel 15 input
// @Field: C16: channel 16 input
// @Field: OMask: bitmask of RC channels being overridden by mavlink input
// @Field: Flags: bitmask of RC state flags
// @FieldBitmaskEnum: Flags: AP_Logger::RCLoggingFlags
// @LoggerMessage: RCIN
// @Description: RC input channels to vehicle
@ -1204,8 +1207,8 @@ LOG_STRUCTURE_FROM_GPS \
"MSG", "QZ", "TimeUS,Message", "s-", "F-"}, \
{ LOG_RCIN_MSG, sizeof(log_RCIN), \
"RCIN", "QHHHHHHHHHHHHHH", "TimeUS,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14", "sYYYYYYYYYYYYYY", "F--------------", true }, \
{ LOG_RCIN2_MSG, sizeof(log_RCIN2), \
"RCI2", "QHHH", "TimeUS,C15,C16,OMask", "sYY-", "F---", true }, \
{ LOG_RCI2_MSG, sizeof(log_RCI2), \
"RCI2", "QHHHB", "TimeUS,C15,C16,OMask,Flags", "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), \
@ -1324,7 +1327,7 @@ enum LogMessages : uint8_t {
LOG_IDS_FROM_NAVEKF3,
LOG_MESSAGE_MSG,
LOG_RCIN_MSG,
LOG_RCIN2_MSG,
LOG_RCI2_MSG,
LOG_RCOUT_MSG,
LOG_RSSI_MSG,
LOG_IDS_FROM_BARO,