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AP_Logger: Log all vibration instances

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This commit is contained in:
Michael du Breuil 2020-10-03 20:49:05 -07:00 committed by Peter Barker
parent 04633d7e1c
commit b04844ca13
2 changed files with 23 additions and 18 deletions
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31
libraries/AP_Logger/LogFile.cpp
View File

@ -400,20 +400,25 @@ void AP_Logger::Write_IMUDT(uint64_t time_us, uint8_t imu_mask)
void AP_Logger::Write_Vibration()
{
uint64_t time_us = AP_HAL::micros64();
const AP_InertialSensor &ins = AP::ins();
const Vector3f vibration = ins.get_vibration_levels();
const struct log_Vibe pkt{
LOG_PACKET_HEADER_INIT(LOG_VIBE_MSG),
time_us : time_us,
vibe_x : vibration.x,
vibe_y : vibration.y,
vibe_z : vibration.z,
clipping_0 : ins.get_accel_clip_count(0),
clipping_1 : ins.get_accel_clip_count(1),
clipping_2 : ins.get_accel_clip_count(2)
};
WriteBlock(&pkt, sizeof(pkt));
const uint64_t time_us = AP_HAL::micros64();
for (uint8_t i = 0; i < INS_MAX_INSTANCES; i++) {
if (!ins.use_accel(i)) {
continue;
}
const Vector3f vibration = ins.get_vibration_levels(i);
const struct log_Vibe pkt{
LOG_PACKET_HEADER_INIT(LOG_VIBE_MSG),
time_us : time_us,
imu : i,
vibe_x : vibration.x,
vibe_y : vibration.y,
vibe_z : vibration.z,
clipping : ins.get_accel_clip_count(i)
};
WriteBlock(&pkt, sizeof(pkt));
}
}
void AP_Logger::Write_Command(const mavlink_command_int_t &packet,

10
libraries/AP_Logger/LogStructure.h
View File

@ -281,8 +281,9 @@ static_assert(sizeof(log_ISBD) < 256, "log_ISBD is over-size");
struct PACKED log_Vibe {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t imu;
float vibe_x, vibe_y, vibe_z;
uint32_t clipping_0, clipping_1, clipping_2;
uint32_t clipping;
};
struct PACKED log_RCIN {
@ -2238,12 +2239,11 @@ struct PACKED log_PSC {
// @LoggerMessage: VIBE
// @Description: Processed (acceleration) vibration information
// @Field: TimeUS: Time since system startup
// @Field: IMU: Vibration instance number
// @Field: VibeX: Primary accelerometer filtered vibration, x-axis
// @Field: VibeY: Primary accelerometer filtered vibration, y-axis
// @Field: VibeZ: Primary accelerometer filtered vibration, z-axis
// @Field: Clip0: Number of clipping events on 1st accelerometer
// @Field: Clip1: Number of clipping events on 2nd accelerometer
// @Field: Clip2: Number of clipping events on 3rd accelerometer
// @Field: Clip: Number of clipping events on 1st accelerometer
// @LoggerMessage: VISO
// @Description: Visual Odometry
@ -2663,7 +2663,7 @@ struct PACKED log_PSC {
{ LOG_BAR3_MSG, sizeof(log_BARO), \
"BAR3", BARO_FMT, BARO_LABELS, BARO_UNITS, BARO_MULTS }, \
{ LOG_VIBE_MSG, sizeof(log_Vibe), \
"VIBE", "QfffIII", "TimeUS,VibeX,VibeY,VibeZ,Clip0,Clip1,Clip2", "s------", "F------" }, \
"VIBE", "QBfffI", "TimeUS,IMU,VibeX,VibeY,VibeZ,Clip", "s#----", "F-----" }, \
{ LOG_IMUDT_MSG, sizeof(log_IMUDT), \
"IMT",IMT_FMT,IMT_LABELS, IMT_UNITS, IMT_MULTS }, \
{ LOG_IMUDT2_MSG, sizeof(log_IMUDT), \