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Copter: RCIN dataflash logging

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This commit is contained in:
Randy Mackay 2013-11-27 16:46:25 +09:00
parent 84fdff4cd6
commit af657d58b9
4 changed files with 11 additions and 3 deletions
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5
ArduCopter/ArduCopter.pde
View File

@ -890,7 +890,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ update_copter_leds, 10, 55 }, { update_copter_leds, 10, 55 },
#endif #endif
{ update_mount, 2, 450 }, { update_mount, 2, 450 },
{ ten_hz_logging_loop, 10, 260 }, { ten_hz_logging_loop, 10, 300 },
{ fifty_hz_logging_loop, 2, 220 }, { fifty_hz_logging_loop, 2, 220 },
{ perf_update, 1000, 200 }, { perf_update, 1000, 200 },
{ read_receiver_rssi, 10, 50 }, { read_receiver_rssi, 10, 50 },
@ -1150,6 +1150,9 @@ static void ten_hz_logging_loop()
if (g.log_bitmask & MASK_LOG_ATTITUDE_MED) { if (g.log_bitmask & MASK_LOG_ATTITUDE_MED) {
Log_Write_Attitude(); Log_Write_Attitude();
} }
if (g.log_bitmask & MASK_LOG_RCIN) {
DataFlash.Log_Write_RCIN();
}
if (g.log_bitmask & MASK_LOG_MOTORS) { if (g.log_bitmask & MASK_LOG_MOTORS) {
Log_Write_Motors(); Log_Write_Motors();
} }

3
ArduCopter/Log.pde
View File

@ -40,6 +40,7 @@ print_log_menu(void)
if (g.log_bitmask & MASK_LOG_PM) cliSerial->printf_P(PSTR(" PM")); if (g.log_bitmask & MASK_LOG_PM) cliSerial->printf_P(PSTR(" PM"));
if (g.log_bitmask & MASK_LOG_CTUN) cliSerial->printf_P(PSTR(" CTUN")); if (g.log_bitmask & MASK_LOG_CTUN) cliSerial->printf_P(PSTR(" CTUN"));
if (g.log_bitmask & MASK_LOG_NTUN) cliSerial->printf_P(PSTR(" NTUN")); if (g.log_bitmask & MASK_LOG_NTUN) cliSerial->printf_P(PSTR(" NTUN"));
if (g.log_bitmask & MASK_LOG_RCIN) cliSerial->printf_P(PSTR(" RCIN"));
if (g.log_bitmask & MASK_LOG_IMU) cliSerial->printf_P(PSTR(" IMU")); if (g.log_bitmask & MASK_LOG_IMU) cliSerial->printf_P(PSTR(" IMU"));
if (g.log_bitmask & MASK_LOG_CMD) cliSerial->printf_P(PSTR(" CMD")); if (g.log_bitmask & MASK_LOG_CMD) cliSerial->printf_P(PSTR(" CMD"));
if (g.log_bitmask & MASK_LOG_CURRENT) cliSerial->printf_P(PSTR(" CURRENT")); if (g.log_bitmask & MASK_LOG_CURRENT) cliSerial->printf_P(PSTR(" CURRENT"));
@ -131,7 +132,7 @@ select_logs(uint8_t argc, const Menu::arg *argv)
TARG(PM); TARG(PM);
TARG(CTUN); TARG(CTUN);
TARG(NTUN); TARG(NTUN);
TARG(MODE); TARG(RCIN);
TARG(IMU); TARG(IMU);
TARG(CMD); TARG(CMD);
TARG(CURRENT); TARG(CURRENT);

4
ArduCopter/config.h
View File

@ -993,6 +993,9 @@
#ifndef LOG_NTUN #ifndef LOG_NTUN
# define LOG_NTUN ENABLED # define LOG_NTUN ENABLED
#endif #endif
#ifndef LOG_RCIN
# define LOG_RCIN ENABLED
#endif
#ifndef LOG_IMU #ifndef LOG_IMU
# define LOG_IMU DISABLED # define LOG_IMU DISABLED
#endif #endif
@ -1034,6 +1037,7 @@
LOGBIT(PM) | \ LOGBIT(PM) | \
LOGBIT(CTUN) | \ LOGBIT(CTUN) | \
LOGBIT(NTUN) | \ LOGBIT(NTUN) | \
LOGBIT(RCIN) | \
LOGBIT(IMU) | \ LOGBIT(IMU) | \
LOGBIT(CMD) | \ LOGBIT(CMD) | \
LOGBIT(CURRENT) | \ LOGBIT(CURRENT) | \

2
ArduCopter/defines.h
View File

@ -303,7 +303,7 @@ enum ap_message {
#define MASK_LOG_PM (1<<3) #define MASK_LOG_PM (1<<3)
#define MASK_LOG_CTUN (1<<4) #define MASK_LOG_CTUN (1<<4)
#define MASK_LOG_NTUN (1<<5) #define MASK_LOG_NTUN (1<<5)
#define MASK_LOG_MODE (1<<6) // not used #define MASK_LOG_RCIN (1<<6)
#define MASK_LOG_IMU (1<<7) #define MASK_LOG_IMU (1<<7)
#define MASK_LOG_CMD (1<<8) #define MASK_LOG_CMD (1<<8)
#define MASK_LOG_CURRENT (1<<9) #define MASK_LOG_CURRENT (1<<9)