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APM_Control: moved the log structure to ArduPlane core 

this allows it to work with old style .log files
This commit is contained in:
Andrew Tridgell 2014-04-30 21:21:42 +10:00
parent 4f250579db
commit 871d0c0e44
2 changed files with 13 additions and 34 deletions
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32
libraries/APM_Control/AP_AutoTune.cpp
View File

@ -66,8 +66,6 @@ extern const AP_HAL::HAL& hal;
#define AUTOTUNE_MIN_IMAX 2000
#define AUTOTUNE_MAX_IMAX 4000
bool AP_AutoTune::logging_started = false;
// constructor
AP_AutoTune::AP_AutoTune(ATGains &_gains, ATType _type,
const AP_Vehicle::FixedWing &parms,
@ -290,42 +288,14 @@ void AP_AutoTune::save_gains(const ATGains &v)
last_save = current;
}
#define LOG_MSG_ATRP 211
struct PACKED log_ATRP {
LOG_PACKET_HEADER;
uint32_t timestamp;
uint8_t type;
uint8_t state;
int16_t servo;
float demanded;
float achieved;
float P;
};
static const struct LogStructure at_log_structures[] PROGMEM = {
{ LOG_MSG_ATRP, sizeof(log_ATRP),
"ATRP", "IBBcfff", "TimeMS,Type,State,Servo,Demanded,Achieved,P" },
};
void AP_AutoTune::write_log_headers(void)
{
if (!logging_started) {
logging_started = true;
dataflash.AddLogFormats(at_log_structures, 1);
}
}
void AP_AutoTune::write_log(float servo, float demanded, float achieved)
{
if (!dataflash.logging_started()) {
return;
}
write_log_headers();
struct log_ATRP pkt = {
LOG_PACKET_HEADER_INIT(LOG_MSG_ATRP),
LOG_PACKET_HEADER_INIT(LOG_ATRP_MSG),
timestamp : hal.scheduler->millis(),
type : type,
state : (uint8_t)state,

15
libraries/APM_Control/AP_AutoTune.h
View File

@ -23,6 +23,18 @@ public:
AUTOTUNE_PITCH = 1
};
struct PACKED log_ATRP {
LOG_PACKET_HEADER;
uint32_t timestamp;
uint8_t type;
uint8_t state;
int16_t servo;
float demanded;
float achieved;
float P;
};
// constructor
AP_AutoTune(ATGains &_gains, ATType type, const AP_Vehicle::FixedWing &parms, DataFlash_Class &_dataflash);
@ -54,9 +66,6 @@ private:
// did we saturate surfaces?
bool saturated_surfaces:1;
// have we sent log headers
static bool logging_started;
// values to restore if we leave autotune mode
ATGains restore;