From 9b351feaded4455c6dbc8bc2fb40edf6cee6549a Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 17 Apr 2013 22:39:30 +0900 Subject: [PATCH] Copter: shorted INAV dataflash log message length Velocities are now output in WPNav message --- ArduCopter/Log.pde | 18 ++++++------------ 1 file changed, 6 insertions(+), 12 deletions(-) diff --git a/ArduCopter/Log.pde b/ArduCopter/Log.pde index 2a7ca536ba..de2af13cfd 100644 --- a/ArduCopter/Log.pde +++ b/ArduCopter/Log.pde @@ -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();