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Plane: Change Attitude logging to use DataFlash library method.

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Robert Lefebvre 2015-01-16 11:01:33 -05:00 committed by Randy Mackay
parent 233083c8e9
commit ac513a84db
1 changed files with 6 additions and 22 deletions
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28
ArduPlane/Log.pde
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@ -164,29 +164,15 @@ process_logs(uint8_t argc, const Menu::arg *argv)
return 0;
}
struct PACKED log_Attitude {
LOG_PACKET_HEADER;
uint32_t time_ms;
int16_t roll;
int16_t pitch;
uint16_t yaw;
uint16_t error_rp;
uint16_t error_yaw;
};
// Write an attitude packet
static void Log_Write_Attitude(void)
{
struct log_Attitude pkt = {
LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG),
time_ms : hal.scheduler->millis(),
roll : (int16_t)ahrs.roll_sensor,
pitch : (int16_t)ahrs.pitch_sensor,
yaw : (uint16_t)ahrs.yaw_sensor,
error_rp : (uint16_t)(ahrs.get_error_rp() * 100),
error_yaw : (uint16_t)(ahrs.get_error_yaw() * 100)
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
Vector3f targets; // Package up the targets into a vector for commonality with Copter usage of Log_Wrote_Attitude
targets.x = nav_roll_cd;
targets.y = nav_pitch_cd;
targets.z = 0; //Plane does not have the concept of navyaw. This is a placeholder.
DataFlash.Log_Write_Attitude(ahrs, targets);
#if AP_AHRS_NAVEKF_AVAILABLE
#if OPTFLOW == ENABLED
@ -528,8 +514,6 @@ static void Log_Write_Airspeed(void)
static const struct LogStructure log_structure[] PROGMEM = {
LOG_COMMON_STRUCTURES,
{ LOG_ATTITUDE_MSG, sizeof(log_Attitude),
"ATT", "IccCCC", "TimeMS,Roll,Pitch,Yaw,ErrorRP,ErrorYaw" },
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "IHIhhhBH", "LTime,MLC,gDt,GDx,GDy,GDz,I2CErr,INSErr" },
{ LOG_STARTUP_MSG, sizeof(log_Startup),