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Plane: added time to most plane log messages

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This commit is contained in:
Andrew Tridgell 2013-11-04 21:37:30 +11:00
parent 1fb636d57f
commit ae8ef344bf
1 changed files with 19 additions and 13 deletions
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32
ArduPlane/Log.pde
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@ -162,6 +162,7 @@ process_logs(uint8_t argc, const Menu::arg *argv)
struct PACKED log_Attitude {
LOG_PACKET_HEADER;
uint32_t time_ms;
int16_t roll;
int16_t pitch;
uint16_t yaw;
@ -172,6 +173,7 @@ 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
@ -297,6 +299,7 @@ static void Log_Write_Startup(uint8_t type)
struct PACKED log_Control_Tuning {
LOG_PACKET_HEADER;
uint32_t time_ms;
int16_t nav_roll_cd;
int16_t roll;
int16_t nav_pitch_cd;
@ -312,6 +315,7 @@ static void Log_Write_Control_Tuning()
Vector3f accel = ins.get_accel();
struct log_Control_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_CTUN_MSG),
time_ms : hal.scheduler->millis(),
nav_roll_cd : (int16_t)nav_roll_cd,
roll : (int16_t)ahrs.roll_sensor,
nav_pitch_cd : (int16_t)nav_pitch_cd,
@ -331,6 +335,7 @@ static void Log_Write_TECS_Tuning(void)
struct PACKED log_Nav_Tuning {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint16_t yaw;
uint32_t wp_distance;
uint16_t target_bearing_cd;
@ -346,6 +351,7 @@ static void Log_Write_Nav_Tuning()
{
struct log_Nav_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_NTUN_MSG),
time_ms : hal.scheduler->millis(),
yaw : (uint16_t)ahrs.yaw_sensor,
wp_distance : wp_distance,
target_bearing_cd : (uint16_t)nav_controller->target_bearing_cd(),
@ -360,6 +366,7 @@ static void Log_Write_Nav_Tuning()
struct PACKED log_Mode {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint8_t mode;
uint8_t mode_num;
};
@ -369,6 +376,7 @@ static void Log_Write_Mode(uint8_t mode)
{
struct log_Mode pkt = {
LOG_PACKET_HEADER_INIT(LOG_MODE_MSG),
time_ms : hal.scheduler->millis(),
mode : mode,
mode_num : mode
};
@ -377,6 +385,7 @@ static void Log_Write_Mode(uint8_t mode)
struct PACKED log_Current {
LOG_PACKET_HEADER;
uint32_t time_ms;
int16_t throttle_in;
int16_t battery_voltage;
int16_t current_amps;
@ -388,6 +397,7 @@ static void Log_Write_Current()
{
struct log_Current pkt = {
LOG_PACKET_HEADER_INIT(LOG_CURRENT_MSG),
time_ms : hal.scheduler->millis(),
throttle_in : channel_throttle->control_in,
battery_voltage : (int16_t)(battery.voltage() * 100.0),
current_amps : (int16_t)(battery.current_amps() * 100.0),
@ -400,15 +410,13 @@ static void Log_Write_Current()
struct PACKED log_Compass {
LOG_PACKET_HEADER;
uint32_t time_ms;
int16_t mag_x;
int16_t mag_y;
int16_t mag_z;
int16_t offset_x;
int16_t offset_y;
int16_t offset_z;
int16_t motor_offset_x;
int16_t motor_offset_y;
int16_t motor_offset_z;
};
// Write a Compass packet. Total length : 15 bytes
@ -418,15 +426,13 @@ static void Log_Write_Compass()
Vector3f mag_motor_offsets = compass.get_motor_offsets();
struct log_Compass pkt = {
LOG_PACKET_HEADER_INIT(LOG_COMPASS_MSG),
time_ms : hal.scheduler->millis(),
mag_x : compass.mag_x,
mag_y : compass.mag_y,
mag_z : compass.mag_z,
offset_x : (int16_t)mag_offsets.x,
offset_y : (int16_t)mag_offsets.y,
offset_z : (int16_t)mag_offsets.z,
motor_offset_x : (int16_t)mag_motor_offsets.x,
motor_offset_y : (int16_t)mag_motor_offsets.y,
motor_offset_z : (int16_t)mag_motor_offsets.z
offset_z : (int16_t)mag_offsets.z
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
@ -444,7 +450,7 @@ static void Log_Write_IMU()
static const struct LogStructure log_structure[] PROGMEM = {
LOG_COMMON_STRUCTURES,
{ LOG_ATTITUDE_MSG, sizeof(log_Attitude),
"ATT", "ccC", "Roll,Pitch,Yaw" },
"ATT", "IccC", "TimeMS,Roll,Pitch,Yaw" },
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "IHIBBBhhhB", "LTime,MLC,gDt,RNCnt,RNBl,GPScnt,GDx,GDy,GDz,I2CErr" },
{ LOG_CMD_MSG, sizeof(log_Cmd),
@ -454,15 +460,15 @@ static const struct LogStructure log_structure[] PROGMEM = {
{ LOG_STARTUP_MSG, sizeof(log_Startup),
"STRT", "BB", "SType,CTot" },
{ LOG_CTUN_MSG, sizeof(log_Control_Tuning),
"CTUN", "cccchhf", "NavRoll,Roll,NavPitch,Pitch,ThrOut,RdrOut,AccY" },
"CTUN", "Icccchhf", "TimeMS,NavRoll,Roll,NavPitch,Pitch,ThrOut,RdrOut,AccY" },
{ LOG_NTUN_MSG, sizeof(log_Nav_Tuning),
"NTUN", "CICCccfI", "Yaw,WpDist,TargBrg,NavBrg,AltErr,Arspd,Alt,GSpdCM" },
"NTUN", "ICICCccfI", "TimeMS,Yaw,WpDist,TargBrg,NavBrg,AltErr,Arspd,Alt,GSpdCM" },
{ LOG_MODE_MSG, sizeof(log_Mode),
"MODE", "MB", "Mode,ModeNum" },
"MODE", "IMB", "TimeMS,Mode,ModeNum" },
{ LOG_CURRENT_MSG, sizeof(log_Current),
"CURR", "hhhHf", "Thr,Volt,Curr,Vcc,CurrTot" },
"CURR", "IhhhHf", "TimeMS,Thr,Volt,Curr,Vcc,CurrTot" },
{ LOG_COMPASS_MSG, sizeof(log_Compass),
"MAG", "hhhhhhhhh", "MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ" },
"MAG", "Ihhhhhh", "TimeMS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ" },
TECS_LOG_FORMAT(LOG_TECS_MSG),
};