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Replay: added MAG2 message

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This commit is contained in:
Andrew Tridgell 2015-05-15 13:19:55 +10:00
parent 9f05e54d90
commit a356ad1c79
9 changed files with 31 additions and 6 deletions
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4
Tools/Replay/LogReader.cpp
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@ -31,6 +31,7 @@
#include "MsgHandler_AHR2.h"
#include "MsgHandler_ATT.h"
#include "MsgHandler_MAG.h"
#include "MsgHandler_MAG2.h"
#include "MsgHandler_NTUN_Copter.h"
#include "MsgHandler_ARSP.h"
@ -182,6 +183,9 @@ bool LogReader::update(char type[5])
} else if (streq(name, "MAG")) {
msgparser[f.type] = new MsgHandler_MAG(formats[f.type], dataflash,
last_timestamp_usec, compass);
} else if (streq(name, "MAG2")) {
msgparser[f.type] = new MsgHandler_MAG2(formats[f.type], dataflash,
last_timestamp_usec, compass);
} else if (streq(name, "NTUN")) {
// the label "NTUN" is used by rover, copter and plane -
// and they all look different! creation of a parser is

3
Tools/Replay/MsgHandler_ARSP.cpp
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@ -7,6 +7,5 @@ void MsgHandler_ARSP::process_message(uint8_t *msg)
airspeed.setHIL(require_field_float(msg, "Airspeed"),
require_field_float(msg, "DiffPress"),
require_field_float(msg, "Temp"));
dataflash.Log_Write_Airspeed(airspeed);
dataflash.WriteBlock(msg, f.length);
}

2
Tools/Replay/MsgHandler_BARO.cpp
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@ -6,5 +6,5 @@ void MsgHandler_BARO::process_message(uint8_t *msg)
baro.setHIL(0,
require_field_float(msg, "Press"),
require_field_int16_t(msg, "Temp") * 0.01f);
dataflash.Log_Write_Baro(baro);
dataflash.WriteBlock(msg, f.length);
}

2
Tools/Replay/MsgHandler_GPS_Base.cpp
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@ -29,6 +29,6 @@ void MsgHandler_GPS_Base::update_from_msg_gps(uint8_t gps_offset, uint8_t *msg,
rel_altitude = 0.01f * require_field_int32_t(msg, "RelAlt");
}
dataflash.Log_Write_GPS(gps, gps_offset, rel_altitude);
dataflash.WriteBlock(msg, f.length);
}

2
Tools/Replay/MsgHandler_IMU_Base.cpp
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@ -17,5 +17,5 @@ void MsgHandler_IMU_Base::update_from_msg_imu(uint8_t imu_offset, uint8_t *msg)
ins.set_accel(imu_offset, accel2);
}
dataflash.Log_Write_IMU(ins);
dataflash.WriteBlock(msg, f.length);
}

6
Tools/Replay/MsgHandler_MAG2.cpp Normal file
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@ -0,0 +1,6 @@
#include "MsgHandler_MAG2.h"
void MsgHandler_MAG2::process_message(uint8_t *msg)
{
update_from_msg_compass(1, msg);
}

11
Tools/Replay/MsgHandler_MAG2.h Normal file
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@ -0,0 +1,11 @@
#include "MsgHandler_MAG_Base.h"
class MsgHandler_MAG2 : public MsgHandler_MAG_Base
{
public:
MsgHandler_MAG2(log_Format &_f, DataFlash_Class &_dataflash,
uint64_t &_last_timestamp_usec, Compass &_compass)
: MsgHandler_MAG_Base(_f, _dataflash, _last_timestamp_usec,_compass) {};
virtual void process_message(uint8_t *msg);
};

2
Tools/Replay/MsgHandler_MAG_Base.cpp
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@ -14,6 +14,6 @@ void MsgHandler_MAG_Base::update_from_msg_compass(uint8_t compass_offset, uint8_
// mag_offset is a vector indicating the compass' calibration...
compass.set_offsets(compass_offset, mag_offset);
dataflash.Log_Write_Compass(compass);
dataflash.WriteBlock(msg, f.length);
}

5
Tools/Replay/MsgHandler_MAG_Base.h
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@ -1,3 +1,6 @@
#ifndef MSGHANDLER_MAG_BASE_H
#define MSGHANDLER_MAG_BASE_H
#include "MsgHandler.h"
class MsgHandler_MAG_Base : public MsgHandler
@ -13,3 +16,5 @@ protected:
private:
Compass &compass;
};
#endif // MSGHANDLER_MAG_BASE