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Copter: shorted INAV dataflash log message length 

Velocities are now output in WPNav message
This commit is contained in:
Randy Mackay 2013-04-17 22:39:30 +09:00
parent f7524e5741
commit 9b351feade
1 changed files with 6 additions and 12 deletions
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18
ArduCopter/Log.pde
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@ -747,11 +747,9 @@ struct log_INAV {
int32_t gps_lon_from_home;
float inav_lat_from_home;
float inav_lon_from_home;
float inav_lat_speed;
float inav_lon_speed;
};
// Write an INAV packet. Total length : 52 Bytes
// Write an INAV packet. Total length : 37 Bytes
static void Log_Write_INAV()
{
Vector3f accel_corr = inertial_nav.accel_correction_ef;
@ -767,9 +765,7 @@ static void Log_Write_INAV()
gps_lat_from_home : g_gps->latitude-home.lat, // 7 lat from home
gps_lon_from_home : g_gps->longitude-home.lng, // 8 lon from home
inav_lat_from_home : inertial_nav.get_latitude_diff(), // 9 accel based lat from home
inav_lon_from_home : inertial_nav.get_longitude_diff(), // 10 accel based lon from home
inav_lat_speed : inertial_nav.get_latitude_velocity(), // 11 accel based lat velocity
inav_lon_speed : inertial_nav.get_longitude_velocity() // 12 accel based lon velocity
inav_lon_from_home : inertial_nav.get_longitude_diff() // 10 accel based lon from home
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
@ -780,8 +776,8 @@ static void Log_Read_INAV()
struct log_INAV pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
// 1 2 3 4 5 6 7 8 9 10 11 12
cliSerial->printf_P(PSTR("INAV, %d, %d, %d, %6.4f, %6.4f, %6.4f, %ld, %ld, %6.4f, %6.4f, %6.4f, %6.4f\n"),
// 1 2 3 4 5 6 7 8 9 10
cliSerial->printf_P(PSTR("INAV, %d, %d, %d, %6.4f, %6.4f, %6.4f, %ld, %ld, %6.4f, %6.4f\n"),
(int)pkt.baro_alt, // 1 barometer altitude
(int)pkt.inav_alt, // 2 accel + baro filtered altitude
(int)pkt.inav_climb_rate, // 3 accel + baro based climb rate
@ -791,9 +787,7 @@ static void Log_Read_INAV()
(long)pkt.gps_lat_from_home, // 7 lat from home
(long)pkt.gps_lon_from_home, // 8 lon from home
pkt.inav_lat_from_home, // 9 accel based lat from home
pkt.inav_lon_from_home, // 10 accel based lon from home
pkt.inav_lat_speed, // 11 accel based lat velocity
pkt.inav_lon_speed); // 12 accel based lon velocity
pkt.inav_lon_from_home); // 10 accel based lon from home
}
struct log_Mode {
@ -1210,7 +1204,7 @@ struct log_WPNAV {
int32_t desired_pitch;
};
// Write an INAV packet. Total length : 52 Bytes
// Write an WPNAV packet. Total length : 43 Bytes
static void Log_Write_WPNAV()
{
Vector3f velocity = inertial_nav.get_velocity();