mirror of https://github.com/ArduPilot/ardupilot
DataFlash: add reason to MODE
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1356deab8b
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@ -187,9 +187,9 @@ void DataFlash_Class::Log_Write_Message(const char *message)
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FOR_EACH_BACKEND(Log_Write_Message(message));
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FOR_EACH_BACKEND(Log_Write_Message(message));
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}
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}
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void DataFlash_Class::Log_Write_Mode(uint8_t mode)
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void DataFlash_Class::Log_Write_Mode(uint8_t mode, uint8_t reason)
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{
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{
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FOR_EACH_BACKEND(Log_Write_Mode(mode));
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FOR_EACH_BACKEND(Log_Write_Mode(mode, reason));
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}
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}
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void DataFlash_Class::Log_Write_Parameter(const char *name, float value)
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void DataFlash_Class::Log_Write_Parameter(const char *name, float value)
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@ -121,7 +121,7 @@ public:
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void Log_Write_Attitude(AP_AHRS &ahrs, const Vector3f &targets);
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void Log_Write_Attitude(AP_AHRS &ahrs, const Vector3f &targets);
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void Log_Write_Current(const AP_BattMonitor &battery, int16_t throttle);
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void Log_Write_Current(const AP_BattMonitor &battery, int16_t throttle);
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void Log_Write_Compass(const Compass &compass);
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void Log_Write_Compass(const Compass &compass);
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void Log_Write_Mode(uint8_t mode);
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void Log_Write_Mode(uint8_t mode, uint8_t reason = 0);
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void Log_Write_EntireMission(const AP_Mission &mission);
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void Log_Write_EntireMission(const AP_Mission &mission);
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void Log_Write_Mission_Cmd(const AP_Mission &mission,
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void Log_Write_Mission_Cmd(const AP_Mission &mission,
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@ -88,7 +88,7 @@ public:
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bool Log_Write_Message(const char *message);
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bool Log_Write_Message(const char *message);
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bool Log_Write_Mission_Cmd(const AP_Mission &mission,
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bool Log_Write_Mission_Cmd(const AP_Mission &mission,
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const AP_Mission::Mission_Command &cmd);
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const AP_Mission::Mission_Command &cmd);
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bool Log_Write_Mode(uint8_t mode);;
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bool Log_Write_Mode(uint8_t mode, uint8_t reason = 0);
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bool Log_Write_Parameter(const char *name, float value);
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bool Log_Write_Parameter(const char *name, float value);
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bool Log_Write_Parameter(const AP_Param *ap,
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bool Log_Write_Parameter(const AP_Param *ap,
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const AP_Param::ParamToken &token,
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const AP_Param::ParamToken &token,
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@ -1687,13 +1687,14 @@ void DataFlash_Class::Log_Write_Compass(const Compass &compass)
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}
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}
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// Write a mode packet.
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// Write a mode packet.
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bool DataFlash_Backend::Log_Write_Mode(uint8_t mode)
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bool DataFlash_Backend::Log_Write_Mode(uint8_t mode, uint8_t reason)
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{
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{
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struct log_Mode pkt = {
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struct log_Mode pkt = {
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LOG_PACKET_HEADER_INIT(LOG_MODE_MSG),
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LOG_PACKET_HEADER_INIT(LOG_MODE_MSG),
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time_us : AP_HAL::micros64(),
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time_us : AP_HAL::micros64(),
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mode : mode,
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mode : mode,
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mode_num : mode
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mode_num : mode,
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mode_reason : reason
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};
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};
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return WriteCriticalBlock(&pkt, sizeof(pkt));
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return WriteCriticalBlock(&pkt, sizeof(pkt));
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}
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}
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@ -445,6 +445,7 @@ struct PACKED log_Mode {
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uint64_t time_us;
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uint64_t time_us;
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uint8_t mode;
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uint8_t mode;
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uint8_t mode_num;
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uint8_t mode_num;
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uint8_t mode_reason;
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};
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};
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/*
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/*
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@ -750,7 +751,7 @@ Format characters in the format string for binary log messages
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{ LOG_COMPASS_MSG, sizeof(log_Compass), \
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{ LOG_COMPASS_MSG, sizeof(log_Compass), \
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"MAG", "QhhhhhhhhhB", "TimeUS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ,Health" }, \
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"MAG", "QhhhhhhhhhB", "TimeUS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ,Health" }, \
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{ LOG_MODE_MSG, sizeof(log_Mode), \
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{ LOG_MODE_MSG, sizeof(log_Mode), \
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"MODE", "QMB", "TimeUS,Mode,ModeNum" }, \
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"MODE", "QMBB", "TimeUS,Mode,ModeNum,Rsn" }, \
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{ LOG_RFND_MSG, sizeof(log_RFND), \
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{ LOG_RFND_MSG, sizeof(log_RFND), \
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"RFND", "QCC", "TimeUS,Dist1,Dist2" }, \
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"RFND", "QCC", "TimeUS,Dist1,Dist2" }, \
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{ LOG_DF_MAV_STATS, sizeof(log_DF_MAV_Stats), \
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{ LOG_DF_MAV_STATS, sizeof(log_DF_MAV_Stats), \
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