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Copter: add INAV error count to PM dataflash msg

This commit is contained in:
Randy Mackay 2013-11-21 15:33:13 +09:00
parent dacca04b21
commit 965af43121
1 changed files with 4 additions and 2 deletions
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6
ArduCopter/Log.pde
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@ -433,6 +433,7 @@ struct PACKED log_Performance {
int16_t pm_test;
uint8_t i2c_lockup_count;
uint16_t ins_error_count;
uint8_t inav_error_count;
};
// Write a performance monitoring packet
@ -447,7 +448,8 @@ static void Log_Write_Performance()
max_time : perf_info_get_max_time(),
pm_test : pmTest1,
i2c_lockup_count : hal.i2c->lockup_count(),
ins_error_count : ins.error_count()
ins_error_count : ins.error_count(),
inav_error_count : inertial_nav.error_count()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
@ -794,7 +796,7 @@ static const struct LogStructure log_structure[] PROGMEM = {
{ LOG_COMPASS_MSG, sizeof(log_Compass),
"MAG", "hhhhhhhhh", "MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ" },
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "BBHHIhBH", "RenCnt,RenBlw,NLon,NLoop,MaxT,PMT,I2CErr,INSErr" },
"PM", "BBHHIhBHB", "RenCnt,RenBlw,NLon,NLoop,MaxT,PMT,I2CErr,INSErr,INAVErr" },
{ LOG_CMD_MSG, sizeof(log_Cmd),
"CMD", "BBBBBeLL", "CTot,CNum,CId,COpt,Prm1,Alt,Lat,Lng" },
{ LOG_ATTITUDE_MSG, sizeof(log_Attitude),