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Replay: keep airspeed msgs in log

This commit is contained in:
Andrew Tridgell 2015-01-20 09:11:07 +11:00
parent 5a01933b7b
commit ad8480d5f7
2 changed files with 13 additions and 16 deletions
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27
Tools/Replay/LogReader.cpp
View File

@ -77,14 +77,6 @@ struct PACKED log_Plane_Attitude {
uint16_t error_yaw; uint16_t error_yaw;
}; };
struct PACKED log_AIRSPEED {
LOG_PACKET_HEADER;
uint32_t timestamp;
float airspeed;
float diffpressure;
int16_t temperature;
};
struct PACKED log_Copter_Attitude { struct PACKED log_Copter_Attitude {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint32_t time_ms; uint32_t time_ms;
@ -163,7 +155,8 @@ void LogReader::process_plane(uint8_t type, uint8_t *data, uint16_t length)
break; break;
} }
case LOG_PLANE_AIRSPEED_MSG: { case LOG_PLANE_AIRSPEED_MSG:
case LOG_ARSP_MSG: {
struct log_AIRSPEED msg; struct log_AIRSPEED msg;
if (sizeof(msg) != length && length != sizeof(msg)+8) { if (sizeof(msg) != length && length != sizeof(msg)+8) {
printf("Bad AIRSPEED length\n"); printf("Bad AIRSPEED length\n");
@ -172,6 +165,7 @@ void LogReader::process_plane(uint8_t type, uint8_t *data, uint16_t length)
memcpy(&msg, data, sizeof(msg)); memcpy(&msg, data, sizeof(msg));
wait_timestamp(msg.timestamp); wait_timestamp(msg.timestamp);
airspeed.setHIL(msg.airspeed, msg.diffpressure, msg.temperature); airspeed.setHIL(msg.airspeed, msg.diffpressure, msg.temperature);
dataflash.Log_Write_Airspeed(airspeed);
break; break;
} }
} }
@ -359,11 +353,12 @@ bool LogReader::update(uint8_t &type)
case LOG_IMU_MSG: { case LOG_IMU_MSG: {
struct log_IMU msg; struct log_IMU msg;
if(sizeof(msg) != f.length) { if (sizeof(msg) != f.length && sizeof(msg) != f.length+8) {
printf("Bad IMU length\n"); printf("Bad IMU length %u expected %u\n",
(unsigned)sizeof(msg), (unsigned)f.length);
exit(1); exit(1);
} }
memcpy(&msg, data, sizeof(msg)); memcpy(&msg, data, f.length);
wait_timestamp(msg.timestamp); wait_timestamp(msg.timestamp);
if (gyro_mask & 1) { if (gyro_mask & 1) {
ins.set_gyro(0, Vector3f(msg.gyro_x, msg.gyro_y, msg.gyro_z)); ins.set_gyro(0, Vector3f(msg.gyro_x, msg.gyro_y, msg.gyro_z));
@ -377,11 +372,12 @@ bool LogReader::update(uint8_t &type)
case LOG_IMU2_MSG: { case LOG_IMU2_MSG: {
struct log_IMU msg; struct log_IMU msg;
if(sizeof(msg) != f.length) { if (sizeof(msg) != f.length && sizeof(msg) != f.length+8) {
printf("Bad IMU2 length\n"); printf("Bad IMU2 length %u expected %u\n",
(unsigned)sizeof(msg), (unsigned)f.length);
exit(1); exit(1);
} }
memcpy(&msg, data, sizeof(msg)); memcpy(&msg, data, f.length);
wait_timestamp(msg.timestamp); wait_timestamp(msg.timestamp);
if (gyro_mask & 2) { if (gyro_mask & 2) {
ins.set_gyro(1, Vector3f(msg.gyro_x, msg.gyro_y, msg.gyro_z)); ins.set_gyro(1, Vector3f(msg.gyro_x, msg.gyro_y, msg.gyro_z));
@ -528,7 +524,6 @@ bool LogReader::update(uint8_t &type)
break; break;
} }
default: default:
if (vehicle == VEHICLE_PLANE) { if (vehicle == VEHICLE_PLANE) {
process_plane(f.type, data, f.length); process_plane(f.type, data, f.length);

2
Tools/Replay/Replay.pde
View File

@ -209,6 +209,8 @@ void setup()
if (arm_time_ms != 0) { if (arm_time_ms != 0) {
ahrs.set_armed(false); ahrs.set_armed(false);
} else {
ahrs.set_armed(true);
} }
barometer.init(); barometer.init();