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ArduCopter: use new logging method for remaining packet types

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Additional changes include renaming RAW dataflash type to IMU
This commit is contained in:
Randy Mackay 2013-01-13 00:17:44 +09:00
parent 177da0ca74
commit 87627d883b
5 changed files with 735 additions and 563 deletions
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6
ArduCopter/ArduCopter.pde
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@ -1240,8 +1240,8 @@ static void fifty_hz_loop()
#endif #endif
} }
if (g.log_bitmask & MASK_LOG_RAW && motors.armed()) if (g.log_bitmask & MASK_LOG_IMU && motors.armed())
Log_Write_Raw(); Log_Write_IMU();
#endif #endif
} }
@ -1335,7 +1335,9 @@ static void slow_loop()
// 1Hz loop // 1Hz loop
static void super_slow_loop() static void super_slow_loop()
{ {
if (g.log_bitmask != 0) {
Log_Write_Data(DATA_AP_STATE, ap.value); Log_Write_Data(DATA_AP_STATE, ap.value);
}
if (g.log_bitmask & MASK_LOG_CUR && motors.armed()) if (g.log_bitmask & MASK_LOG_CUR && motors.armed())
Log_Write_Current(); Log_Write_Current();

1221
ArduCopter/Log.pde
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File diff suppressed because it is too large Load Diff

6
ArduCopter/config.h
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@ -1065,8 +1065,8 @@
#ifndef LOG_MODE #ifndef LOG_MODE
# define LOG_MODE ENABLED # define LOG_MODE ENABLED
#endif #endif
#ifndef LOG_RAW #ifndef LOG_IMU
# define LOG_RAW DISABLED # define LOG_IMU DISABLED
#endif #endif
#ifndef LOG_CMD #ifndef LOG_CMD
# define LOG_CMD ENABLED # define LOG_CMD ENABLED
@ -1107,7 +1107,7 @@
LOGBIT(CTUN) | \ LOGBIT(CTUN) | \
LOGBIT(NTUN) | \ LOGBIT(NTUN) | \
LOGBIT(MODE) | \ LOGBIT(MODE) | \
LOGBIT(RAW) | \ LOGBIT(IMU) | \
LOGBIT(CMD) | \ LOGBIT(CMD) | \
LOGBIT(CUR) | \ LOGBIT(CUR) | \
LOGBIT(MOTORS) | \ LOGBIT(MOTORS) | \

11
ArduCopter/defines.h
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@ -277,19 +277,24 @@ enum gcs_severity {
#define LOG_CONTROL_TUNING_MSG 0x04 #define LOG_CONTROL_TUNING_MSG 0x04
#define LOG_NAV_TUNING_MSG 0x05 #define LOG_NAV_TUNING_MSG 0x05
#define LOG_PERFORMANCE_MSG 0x06 #define LOG_PERFORMANCE_MSG 0x06
#define LOG_RAW_MSG 0x07 #define LOG_IMU_MSG 0x07
#define LOG_CMD_MSG 0x08 #define LOG_CMD_MSG 0x08
#define LOG_CURRENT_MSG 0x09 #define LOG_CURRENT_MSG 0x09
#define LOG_STARTUP_MSG 0x0A #define LOG_STARTUP_MSG 0x0A
#define LOG_MOTORS_MSG 0x0B #define LOG_MOTORS_MSG 0x0B
#define LOG_OPTFLOW_MSG 0x0C #define LOG_OPTFLOW_MSG 0x0C
#define LOG_DATA_MSG 0x0D #define LOG_EVENT_MSG 0x0D
#define LOG_PID_MSG 0x0E #define LOG_PID_MSG 0x0E
#define LOG_ITERM_MSG 0x0F #define LOG_ITERM_MSG 0x0F
#define LOG_DMP_MSG 0x10 #define LOG_DMP_MSG 0x10
#define LOG_INAV_MSG 0x11 #define LOG_INAV_MSG 0x11
#define LOG_CAMERA_MSG 0x12 #define LOG_CAMERA_MSG 0x12
#define LOG_ERROR_MSG 0x13 #define LOG_ERROR_MSG 0x13
#define LOG_DATA_INT16_MSG 0x14
#define LOG_DATA_UINT16_MSG 0x15
#define LOG_DATA_INT32_MSG 0x16
#define LOG_DATA_UINT32_MSG 0x17
#define LOG_DATA_FLOAT_MSG 0x18
#define LOG_INDEX_MSG 0xF0 #define LOG_INDEX_MSG 0xF0
#define MAX_NUM_LOGS 50 #define MAX_NUM_LOGS 50
@ -300,7 +305,7 @@ enum gcs_severity {
#define MASK_LOG_CTUN (1<<4) #define MASK_LOG_CTUN (1<<4)
#define MASK_LOG_NTUN (1<<5) #define MASK_LOG_NTUN (1<<5)
#define MASK_LOG_MODE (1<<6) #define MASK_LOG_MODE (1<<6)
#define MASK_LOG_RAW (1<<7) #define MASK_LOG_IMU (1<<7)
#define MASK_LOG_CMD (1<<8) #define MASK_LOG_CMD (1<<8)
#define MASK_LOG_CUR (1<<9) #define MASK_LOG_CUR (1<<9)
#define MASK_LOG_MOTORS (1<<10) #define MASK_LOG_MOTORS (1<<10)

2
ArduCopter/system.pde
View File

@ -571,8 +571,10 @@ static void
init_simple_bearing() init_simple_bearing()
{ {
initial_simple_bearing = ahrs.yaw_sensor; initial_simple_bearing = ahrs.yaw_sensor;
if (g.log_bitmask != 0) {
Log_Write_Data(DATA_INIT_SIMPLE_BEARING, initial_simple_bearing); Log_Write_Data(DATA_INIT_SIMPLE_BEARING, initial_simple_bearing);
} }
}
#if CLI_SLIDER_ENABLED == ENABLED && CLI_ENABLED == ENABLED #if CLI_SLIDER_ENABLED == ENABLED && CLI_ENABLED == ENABLED
static bool check_startup_for_CLI() static bool check_startup_for_CLI()