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Rover: DPTH message only written if range finder last read time changed

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This commit is contained in:
Randy Mackay 2018-08-27 16:03:43 +09:00
parent 1b0f0a7559
commit 88a230e897
2 changed files with 10 additions and 0 deletions
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7
APMrover2/Log.cpp
View File

@ -60,6 +60,13 @@ void Rover::Log_Write_Depth()
return;
}
// check if new sensor reading has arrived
uint32_t reading_ms = rangefinder.last_reading_ms(ROTATION_PITCH_270);
if (reading_ms == rangefinder_last_reading_ms) {
return;
}
rangefinder_last_reading_ms = reading_ms;
DataFlash.Log_Write("DPTH", "TimeUS,Lat,Lng,Depth",
"sDUm", "FGG0", "QLLf",
AP_HAL::micros64(),

3
APMrover2/Rover.h
View File

@ -280,6 +280,9 @@ private:
uint32_t detected_time_ms;
} obstacle;
// range finder last update (used for DPTH logging)
uint32_t rangefinder_last_reading_ms;
// Ground speed
// The amount current ground speed is below min ground speed. meters per second
float ground_speed;