Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Rover: Change Compass logging to use DataFlash library method.

This commit is contained in:
Robert Lefebvre 2015-01-16 15:47:26 -05:00 committed by Randy Mackay
parent 89fd543f4d
commit b3aab67239
2 changed files with 5 additions and 73 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

75
APMrover2/Log.pde
View File

@ -358,80 +358,19 @@ static void Log_Write_Current()
DataFlash.Log_Write_Power();
}
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
// Write a Compass packet
static void Log_Write_Compass()
{
const Vector3f &mag_offsets = compass.get_offsets();
const Vector3f &mag_motor_offsets = compass.get_motor_offsets();
const Vector3f &mag = compass.get_field();
struct log_Compass pkt = {
LOG_PACKET_HEADER_INIT(LOG_COMPASS_MSG),
time_ms : millis(),
mag_x : (int16_t)mag.x,
mag_y : (int16_t)mag.y,
mag_z : (int16_t)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
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
DataFlash.Log_Write_Compass(compass, 0);
#if COMPASS_MAX_INSTANCES > 1
if (compass.get_count() > 1) {
const Vector3f &mag2_offsets = compass.get_offsets(1);
const Vector3f &mag2_motor_offsets = compass.get_motor_offsets(1);
const Vector3f &mag2 = compass.get_field(1);
struct log_Compass pkt2 = {
LOG_PACKET_HEADER_INIT(LOG_COMPASS2_MSG),
time_ms : millis(),
mag_x : (int16_t)mag2.x,
mag_y : (int16_t)mag2.y,
mag_z : (int16_t)mag2.z,
offset_x : (int16_t)mag2_offsets.x,
offset_y : (int16_t)mag2_offsets.y,
offset_z : (int16_t)mag2_offsets.z,
motor_offset_x : (int16_t)mag2_motor_offsets.x,
motor_offset_y : (int16_t)mag2_motor_offsets.y,
motor_offset_z : (int16_t)mag2_motor_offsets.z
};
DataFlash.WriteBlock(&pkt2, sizeof(pkt2));
DataFlash.Log_Write_Compass(compass, 1);
}
#endif
#if COMPASS_MAX_INSTANCES > 2
if (compass.get_count() > 2) {
const Vector3f &mag3_offsets = compass.get_offsets(2);
const Vector3f &mag3_motor_offsets = compass.get_motor_offsets(2);
const Vector3f &mag3 = compass.get_field(2);
struct log_Compass pkt3 = {
LOG_PACKET_HEADER_INIT(LOG_COMPASS3_MSG),
time_ms : millis(),
mag_x : (int16_t)mag3.x,
mag_y : (int16_t)mag3.y,
mag_z : (int16_t)mag3.z,
offset_x : (int16_t)mag3_offsets.x,
offset_y : (int16_t)mag3_offsets.y,
offset_z : (int16_t)mag3_offsets.z,
motor_offset_x : (int16_t)mag3_motor_offsets.x,
motor_offset_y : (int16_t)mag3_motor_offsets.y,
motor_offset_z : (int16_t)mag3_motor_offsets.z
};
DataFlash.WriteBlock(&pkt3, sizeof(pkt3));
DataFlash.Log_Write_Compass(compass, 2);
}
#endif
}
@ -460,10 +399,6 @@ static const struct LogStructure log_structure[] PROGMEM = {
"NTUN", "IHfHHb", "TimeMS,Yaw,WpDist,TargBrg,NavBrg,Thr" },
{ LOG_SONAR_MSG, sizeof(log_Sonar),
"SONR", "IfHHHbHCb", "TimeMS,LatAcc,S1Dist,S2Dist,DCnt,TAng,TTim,Spd,Thr" },
{ LOG_COMPASS_MSG, sizeof(log_Compass),
"MAG", "Ihhhhhhhhh", "TimeMS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ" },
{ LOG_COMPASS2_MSG, sizeof(log_Compass),
"MAG2", "Ihhhhhhhhh", "TimeMS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ" },
{ LOG_STEERING_MSG, sizeof(log_Steering),
"STER", "Iff", "TimeMS,Demanded,Achieved" },
};

3
APMrover2/defines.h
View File

@ -67,10 +67,7 @@ enum mode {
#define LOG_PERFORMANCE_MSG 0x03
#define LOG_STARTUP_MSG 0x06
#define LOG_SONAR_MSG 0x07
#define LOG_COMPASS_MSG 0x0A
#define LOG_COMPASS2_MSG 0x0C
#define LOG_STEERING_MSG 0x0D
#define LOG_COMPASS3_MSG 0x0E
#define TYPE_AIRSTART_MSG 0x00
#define TYPE_GROUNDSTART_MSG 0x01