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Copter: log RATE with ATT

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This commit is contained in:
Randy Mackay 2015-03-18 21:05:19 +09:00
parent d9b65cec22
commit b679fd0be0
4 changed files with 16 additions and 19 deletions
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3
ArduCopter/ArduCopter.pde
View File

@ -1038,8 +1038,6 @@ static void ten_hz_logging_loop()
{ {
if (should_log(MASK_LOG_ATTITUDE_MED)) { if (should_log(MASK_LOG_ATTITUDE_MED)) {
Log_Write_Attitude(); Log_Write_Attitude();
}
if (should_log(MASK_LOG_RATE)) {
Log_Write_Rate(); Log_Write_Rate();
} }
if (should_log(MASK_LOG_MOT)) { if (should_log(MASK_LOG_MOT)) {
@ -1068,6 +1066,7 @@ static void fifty_hz_logging_loop()
#if HIL_MODE == HIL_MODE_DISABLED #if HIL_MODE == HIL_MODE_DISABLED
if (should_log(MASK_LOG_ATTITUDE_FAST)) { if (should_log(MASK_LOG_ATTITUDE_FAST)) {
Log_Write_Attitude(); Log_Write_Attitude();
Log_Write_Rate();
} }
if (should_log(MASK_LOG_IMU)) { if (should_log(MASK_LOG_IMU)) {

28
ArduCopter/Log.pde
View File

@ -364,20 +364,6 @@ static void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd)
DataFlash.Log_Write_MavCmd(mission.num_commands(),mav_cmd); DataFlash.Log_Write_MavCmd(mission.num_commands(),mav_cmd);
} }
struct PACKED log_Rate {
LOG_PACKET_HEADER;
uint32_t time_ms;
float control_roll;
float roll;
float roll_out;
float control_pitch;
float pitch;
float pitch_out;
float control_yaw;
float yaw;
float yaw_out;
};
struct PACKED log_Mot { struct PACKED log_Mot {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint32_t time_ms; uint32_t time_ms;
@ -406,6 +392,20 @@ static void Log_Write_Attitude()
#endif #endif
} }
struct PACKED log_Rate {
LOG_PACKET_HEADER;
uint32_t time_ms;
float control_roll;
float roll;
float roll_out;
float control_pitch;
float pitch;
float pitch_out;
float control_yaw;
float yaw;
float yaw_out;
};
// Write an rate packet // Write an rate packet
static void Log_Write_Rate() static void Log_Write_Rate()
{ {

1
ArduCopter/config.h
View File

@ -686,7 +686,6 @@
MASK_LOG_OPTFLOW | \ MASK_LOG_OPTFLOW | \
MASK_LOG_COMPASS | \ MASK_LOG_COMPASS | \
MASK_LOG_CAMERA | \ MASK_LOG_CAMERA | \
MASK_LOG_RATE | \
MASK_LOG_MOT MASK_LOG_MOT
#endif #endif

3
ArduCopter/defines.h
View File

@ -259,8 +259,7 @@ enum FlipState {
#define MASK_LOG_INAV (1<<14) // deprecated #define MASK_LOG_INAV (1<<14) // deprecated
#define MASK_LOG_CAMERA (1<<15) #define MASK_LOG_CAMERA (1<<15)
#define MASK_LOG_WHEN_DISARMED (1UL<<16) #define MASK_LOG_WHEN_DISARMED (1UL<<16)
#define MASK_LOG_RATE (1UL<<17) #define MASK_LOG_MOT (1UL<<17)
#define MASK_LOG_MOT (1UL<<18)
#define MASK_LOG_ANY 0xFFFF #define MASK_LOG_ANY 0xFFFF
// DATA - event logging // DATA - event logging