From 965af431211acabe8641c461068eab27fd1afeda Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Thu, 21 Nov 2013 15:33:13 +0900 Subject: [PATCH] Copter: add INAV error count to PM dataflash msg --- ArduCopter/Log.pde | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/ArduCopter/Log.pde b/ArduCopter/Log.pde index f5da7863ee..95388a07ea 100644 --- a/ArduCopter/Log.pde +++ b/ArduCopter/Log.pde @@ -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),