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Rover: added RC in/out logging

This commit is contained in:
Andrew Tridgell 2013-12-30 10:24:01 +11:00
parent 2ce1b14cbb
commit 870ec8a9bb
4 changed files with 25 additions and 2 deletions
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14
APMrover2/APMrover2.pde
View File

@ -559,7 +559,8 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ navigate, 5, 1600 }, { navigate, 5, 1600 },
{ update_compass, 5, 2000 }, { update_compass, 5, 2000 },
{ update_commands, 5, 1000 }, { update_commands, 5, 1000 },
{ update_logging, 5, 1000 }, { update_logging1, 5, 1000 },
{ update_logging2, 5, 1000 },
{ gcs_retry_deferred, 1, 1000 }, { gcs_retry_deferred, 1, 1000 },
{ gcs_update, 1, 1700 }, { gcs_update, 1, 1700 },
{ gcs_data_stream_send, 1, 3000 }, { gcs_data_stream_send, 1, 3000 },
@ -706,7 +707,7 @@ static void update_compass(void)
/* /*
log some key data - 10Hz log some key data - 10Hz
*/ */
static void update_logging(void) static void update_logging1(void)
{ {
if ((g.log_bitmask & MASK_LOG_ATTITUDE_MED) && !(g.log_bitmask & MASK_LOG_ATTITUDE_FAST)) if ((g.log_bitmask & MASK_LOG_ATTITUDE_MED) && !(g.log_bitmask & MASK_LOG_ATTITUDE_FAST))
Log_Write_Attitude(); Log_Write_Attitude();
@ -716,12 +717,21 @@ static void update_logging(void)
if (g.log_bitmask & MASK_LOG_NTUN) if (g.log_bitmask & MASK_LOG_NTUN)
Log_Write_Nav_Tuning(); Log_Write_Nav_Tuning();
}
/*
log some key data - 10Hz
*/
static void update_logging2(void)
{
if (g.log_bitmask & MASK_LOG_STEERING) { if (g.log_bitmask & MASK_LOG_STEERING) {
if (control_mode == STEERING || control_mode == AUTO || control_mode == RTL || control_mode == GUIDED) { if (control_mode == STEERING || control_mode == AUTO || control_mode == RTL || control_mode == GUIDED) {
Log_Write_Steering(); Log_Write_Steering();
} }
} }
if (g.log_bitmask & MASK_LOG_RC)
Log_Write_RC();
} }

7
APMrover2/Log.pde
View File

@ -514,6 +514,12 @@ static void Log_Write_Compass()
} }
static void Log_Write_RC(void)
{
DataFlash.Log_Write_RCIN();
DataFlash.Log_Write_RCOUT();
}
static const struct LogStructure log_structure[] PROGMEM = { static const struct LogStructure log_structure[] PROGMEM = {
LOG_COMMON_STRUCTURES, LOG_COMMON_STRUCTURES,
{ LOG_ATTITUDE_MSG, sizeof(log_Attitude), { LOG_ATTITUDE_MSG, sizeof(log_Attitude),
@ -587,6 +593,7 @@ static void Log_Write_Mode() {}
static void Log_Write_Attitude() {} static void Log_Write_Attitude() {}
static void Log_Write_Compass() {} static void Log_Write_Compass() {}
static void start_logging() {} static void start_logging() {}
static void Log_Write_RC(void) {}
#endif // LOGGING_ENABLED #endif // LOGGING_ENABLED

5
APMrover2/config.h
View File

@ -319,6 +319,7 @@
# define LOGGING_ENABLED ENABLED # define LOGGING_ENABLED ENABLED
#endif #endif
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
#define DEFAULT_LOG_BITMASK \ #define DEFAULT_LOG_BITMASK \
MASK_LOG_ATTITUDE_MED | \ MASK_LOG_ATTITUDE_MED | \
MASK_LOG_GPS | \ MASK_LOG_GPS | \
@ -332,6 +333,10 @@
MASK_LOG_CURRENT | \ MASK_LOG_CURRENT | \
MASK_LOG_STEERING | \ MASK_LOG_STEERING | \
MASK_LOG_CAMERA MASK_LOG_CAMERA
#else
// other systems have plenty of space for full logs
#define DEFAULT_LOG_BITMASK 0xffff
#endif

1
APMrover2/defines.h
View File

@ -115,6 +115,7 @@ enum mode {
#define MASK_LOG_COMPASS (1<<11) #define MASK_LOG_COMPASS (1<<11)
#define MASK_LOG_CAMERA (1<<12) #define MASK_LOG_CAMERA (1<<12)
#define MASK_LOG_STEERING (1<<13) #define MASK_LOG_STEERING (1<<13)
#define MASK_LOG_RC (1<<14)
// Waypoint Modes // Waypoint Modes
// ---------------- // ----------------