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AP_Logger: added logging of GPS yaw

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some GPS modules can give true yaw, whether moving or not
This commit is contained in:
Andrew Tridgell 2017-05-28 17:12:50 +10:00
parent 64ed76326b
commit a2e75876bf
2 changed files with 10 additions and 4 deletions
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5
libraries/AP_Logger/LogFile.cpp
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@ -138,6 +138,10 @@ void AP_Logger::Write_GPS(uint8_t i, uint64_t time_us)
time_us = AP_HAL::micros64(); time_us = AP_HAL::micros64();
} }
const struct Location &loc = gps.location(i); const struct Location &loc = gps.location(i);
float yaw_deg=0, yaw_accuracy_deg=0;
gps.gps_yaw_deg(i, yaw_deg, yaw_accuracy_deg);
struct log_GPS pkt = { struct log_GPS pkt = {
LOG_PACKET_HEADER_INIT((uint8_t)(LOG_GPS_MSG+i)), LOG_PACKET_HEADER_INIT((uint8_t)(LOG_GPS_MSG+i)),
time_us : time_us, time_us : time_us,
@ -152,6 +156,7 @@ void AP_Logger::Write_GPS(uint8_t i, uint64_t time_us)
ground_speed : gps.ground_speed(i), ground_speed : gps.ground_speed(i),
ground_course : gps.ground_course(i), ground_course : gps.ground_course(i),
vel_z : gps.velocity(i).z, vel_z : gps.velocity(i).z,
yaw : yaw_deg,
used : (uint8_t)(gps.primary_sensor() == i) used : (uint8_t)(gps.primary_sensor() == i)
}; };
WriteBlock(&pkt, sizeof(pkt)); WriteBlock(&pkt, sizeof(pkt));

9
libraries/AP_Logger/LogStructure.h
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@ -212,6 +212,7 @@ struct PACKED log_GPS {
float ground_speed; float ground_speed;
float ground_course; float ground_course;
float vel_z; float vel_z;
float yaw;
uint8_t used; uint8_t used;
}; };
@ -1188,10 +1189,10 @@ struct PACKED log_Arm_Disarm {
#define GPA_MULTS "FBBBB-CF" #define GPA_MULTS "FBBBB-CF"
// see "struct GPS_State" and "Write_GPS": // see "struct GPS_State" and "Write_GPS":
#define GPS_LABELS "TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,U" #define GPS_LABELS "TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,Yaw,U"
#define GPS_FMT "QBIHBcLLefffB" #define GPS_FMT "QBIHBcLLeffffB"
#define GPS_UNITS "s---SmDUmnhn-" #define GPS_UNITS "s---SmDUmnhnh-"
#define GPS_MULTS "F---0BGGB000-" #define GPS_MULTS "F---0BGGB000--"
#define GYR_LABELS "TimeUS,SampleUS,GyrX,GyrY,GyrZ" #define GYR_LABELS "TimeUS,SampleUS,GyrX,GyrY,GyrZ"
#define GYR_FMT "QQfff" #define GYR_FMT "QQfff"