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Rover: add available memory to PM message

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Andrew Tridgell 2017-03-27 08:12:11 +11:00 committed by Randy Mackay
parent 8387e1e69c
commit 9cbfc4ddd3
1 changed files with 4 additions and 2 deletions
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6
APMrover2/Log.cpp
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@ -164,6 +164,7 @@ struct PACKED log_Performance {
int16_t gyro_drift_z; int16_t gyro_drift_z;
uint8_t i2c_lockup_count; uint8_t i2c_lockup_count;
uint16_t ins_error_count; uint16_t ins_error_count;
uint32_t mem_avail;
}; };
// Write a performance monitoring packet. Total length : 19 bytes // Write a performance monitoring packet. Total length : 19 bytes
@ -179,7 +180,8 @@ void Rover::Log_Write_Performance()
gyro_drift_y : (int16_t)(ahrs.get_gyro_drift().y * 1000), gyro_drift_y : (int16_t)(ahrs.get_gyro_drift().y * 1000),
gyro_drift_z : (int16_t)(ahrs.get_gyro_drift().z * 1000), gyro_drift_z : (int16_t)(ahrs.get_gyro_drift().z * 1000),
i2c_lockup_count: 0, i2c_lockup_count: 0,
ins_error_count : ins.error_count() ins_error_count : ins.error_count(),
hal.util->available_memory()
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); DataFlash.WriteBlock(&pkt, sizeof(pkt));
} }
@ -440,7 +442,7 @@ void Rover::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_targ
const LogStructure Rover::log_structure[] = { const LogStructure Rover::log_structure[] = {
LOG_COMMON_STRUCTURES, LOG_COMMON_STRUCTURES,
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance), { LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "QIHIhhhBH", "TimeUS,LTime,MLC,gDt,GDx,GDy,GDz,I2CErr,INSErr" }, "PM", "QIHIhhhBHI", "TimeUS,LTime,MLC,gDt,GDx,GDy,GDz,I2CErr,INSErr,Mem" },
{ LOG_STARTUP_MSG, sizeof(log_Startup), { LOG_STARTUP_MSG, sizeof(log_Startup),
"STRT", "QBH", "TimeUS,SType,CTot" }, "STRT", "QBH", "TimeUS,SType,CTot" },
{ LOG_CTUN_MSG, sizeof(log_Control_Tuning), { LOG_CTUN_MSG, sizeof(log_Control_Tuning),