Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 17:08:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

DataFlash: changed GPS ground course to float and add VV for GPA

Browse Source 
more accurate replay
This commit is contained in:
Andrew Tridgell 2016-05-05 11:21:34 +10:00
parent 2bcd3c48f0
commit 9300092840
2 changed files with 8 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/DataFlash/LogFile.cpp
View File

@ -722,7 +722,7 @@ void DataFlash_Class::Log_Write_GPS(const AP_GPS &gps, uint8_t i)
longitude : loc.lng,
altitude : loc.alt,
ground_speed : gps.ground_speed(i),
ground_course : gps.ground_course_cd(i),
ground_course : gps.ground_course(i),
vel_z : gps.velocity(i).z,
used : (uint8_t)(gps.primary_sensor() == i)
};
@ -739,7 +739,8 @@ void DataFlash_Class::Log_Write_GPS(const AP_GPS &gps, uint8_t i)
vdop : gps.get_vdop(i),
hacc : (uint16_t)(hacc*100),
vacc : (uint16_t)(vacc*100),
sacc : (uint16_t)(sacc*100)
sacc : (uint16_t)(sacc*100),
have_vv : (uint8_t)gps.have_vertical_velocity(i)
};
WriteBlock(&pkt2, sizeof(pkt2));
}

9
libraries/DataFlash/LogStructure.h
View File

@ -53,7 +53,7 @@ struct PACKED log_GPS {
int32_t longitude;
int32_t altitude;
float ground_speed;
int32_t ground_course;
float ground_course;
float vel_z;
uint8_t used;
};
@ -65,6 +65,7 @@ struct PACKED log_GPA {
uint16_t hacc;
uint16_t vacc;
uint16_t sacc;
uint8_t have_vv;
};
struct PACKED log_Message {
@ -715,13 +716,13 @@ Format characters in the format string for binary log messages
{ LOG_PARAMETER_MSG, sizeof(log_Parameter), \
"PARM", "QNf", "TimeUS,Name,Value" }, \
{ LOG_GPS_MSG, sizeof(log_GPS), \
"GPS", "QBIHBcLLefefB", "TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,U" }, \
"GPS", "QBIHBcLLefffB", "TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,U" }, \
{ LOG_GPS2_MSG, sizeof(log_GPS), \
"GPS2", "QBIHBcLLefefB", "TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,U" }, \
{ LOG_GPA_MSG, sizeof(log_GPA), \
"GPA", "QCCCC", "TimeUS,VDop,HAcc,VAcc,SAcc" }, \
"GPA", "QCCCCB", "TimeUS,VDop,HAcc,VAcc,SAcc,VV" }, \
{ LOG_GPA2_MSG, sizeof(log_GPA), \
"GPA2", "QCCCC", "TimeUS,VDop,HAcc,VAcc,SAcc" }, \
"GPA2", "QCCCCB", "TimeUS,VDop,HAcc,VAcc,SAcc,VV" }, \
{ LOG_IMU_MSG, sizeof(log_IMU), \
"IMU", "QffffffIIfBB", "TimeUS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp,GyHlt,AcHlt" }, \
{ LOG_MESSAGE_MSG, sizeof(log_Message), \