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Tools: Replay: use Log_Write for CHEK message

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Peter Barker 2018-04-21 16:33:40 +10:00 committed by Peter Barker
parent deeaf6ec09
commit 961aac454b
3 changed files with 16 additions and 24 deletions
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6
Tools/Replay/LogReader.cpp
View File

@ -31,12 +31,6 @@ extern const AP_HAL::HAL& hal;
const struct LogStructure log_structure[] = {
LOG_COMMON_STRUCTURES,
{ LOG_CHEK_MSG, sizeof(log_Chek),
"CHEK",
"QccCLLffff",
"TimeUS,Roll,Pitch,Yaw,Lat,Lng,Alt,VN,VE,VD",
"sdddDUmnnn",
"FBBBGGB000"}
};
LogReader::LogReader(AP_AHRS &_ahrs, AP_InertialSensor &_ins, Compass &_compass, AP_GPS &_gps,

30
Tools/Replay/Replay.cpp
View File

@ -724,21 +724,23 @@ void Replay::log_check_generate(void)
_vehicle.EKF2.getVelNED(-1,velocity);
_vehicle.EKF2.getLLH(loc);
struct log_Chek packet = {
LOG_PACKET_HEADER_INIT(LOG_CHEK_MSG),
time_us : AP_HAL::micros64(),
roll : (int16_t)(100*degrees(euler.x)), // roll angle (centi-deg, displayed as deg due to format string)
pitch : (int16_t)(100*degrees(euler.y)), // pitch angle (centi-deg, displayed as deg due to format string)
yaw : (uint16_t)wrap_360_cd(100*degrees(euler.z)), // yaw angle (centi-deg, displayed as deg due to format string)
lat : loc.lat,
lng : loc.lng,
alt : loc.alt*0.01f,
vnorth : velocity.x,
veast : velocity.y,
vdown : velocity.z
_vehicle.dataflash.Log_Write(
"CHEK",
"TimeUS,Roll,Pitch,Yaw,Lat,Lng,Alt,VN,VE,VD",
"sdddDUmnnn",
"FBBBGGB000",
"QccCLLffff",
AP_HAL::micros64(),
(int16_t)(100*degrees(euler.x)), // roll angle (centi-deg, displayed as deg due to format string)
(int16_t)(100*degrees(euler.y)), // pitch angle (centi-deg, displayed as deg due to format string)
(uint16_t)wrap_360_cd(100*degrees(euler.z)), // yaw angle (centi-deg, displayed as deg due to format string)
loc.lat,
loc.lng,
loc.alt*0.01f,
velocity.x,
velocity.y,
velocity.z
};
_vehicle.dataflash.WriteBlock(&packet, sizeof(packet));
}

4
Tools/Replay/Replay.h
View File

@ -180,10 +180,6 @@ private:
FILE *xfopen(const char *f, const char *mode);
};
enum {
LOG_CHEK_MSG=100
};
/*
Replay specific log structures
*/