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DataFlash: added logging of 2nd baro

This commit is contained in:
Andrew Tridgell 2015-01-06 08:37:23 +11:00
parent 231b44fc83
commit b85001bf4a
2 changed files with 21 additions and 4 deletions
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3
libraries/DataFlash/DataFlash.h
View File

@ -478,6 +478,8 @@ struct PACKED log_Esc {
"RCOU", "Ihhhhhhhhhhhh", "TimeMS,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Ch8,Ch9,Ch10,Ch11,Ch12" }, \
{ LOG_BARO_MSG, sizeof(log_BARO), \
"BARO", "Iffcf", "TimeMS,Alt,Press,Temp,CRt" }, \
{ LOG_BAR2_MSG, sizeof(log_BARO), \
"BAR2", "Iffcf", "TimeMS,Alt,Press,Temp,CRt" }, \
{ LOG_POWR_MSG, sizeof(log_POWR), \
"POWR","ICCH","TimeMS,Vcc,VServo,Flags" }, \
{ LOG_CMD_MSG, sizeof(log_Cmd), \
@ -578,6 +580,7 @@ struct PACKED log_Esc {
#define LOG_ESC7_MSG 160
#define LOG_ESC8_MSG 161
#define LOG_EKF5_MSG 162
#define LOG_BAR2_MSG 163
// message types 200 to 210 reversed for GPS driver use
// message types 211 to 220 reversed for autotune use

22
libraries/DataFlash/LogFile.cpp
View File

@ -765,15 +765,29 @@ void DataFlash_Class::Log_Write_RCOUT(void)
// Write a BARO packet
void DataFlash_Class::Log_Write_Baro(AP_Baro &baro)
{
uint32_t now = hal.scheduler->millis();
struct log_BARO pkt = {
LOG_PACKET_HEADER_INIT(LOG_BARO_MSG),
timestamp : hal.scheduler->millis(),
altitude : baro.get_altitude(),
pressure : baro.get_pressure(),
temperature : (int16_t)(baro.get_temperature() * 100),
timestamp : now,
altitude : baro.get_altitude(0),
pressure : baro.get_pressure(0),
temperature : (int16_t)(baro.get_temperature(0) * 100),
climbrate : baro.get_climb_rate()
};
WriteBlock(&pkt, sizeof(pkt));
#if BARO_MAX_INSTANCES > 1
if (baro.num_instances() > 1 && baro.healthy(1)) {
struct log_BARO pkt2 = {
LOG_PACKET_HEADER_INIT(LOG_BAR2_MSG),
timestamp : now,
altitude : baro.get_altitude(1),
pressure : baro.get_pressure(1),
temperature : (int16_t)(baro.get_temperature(1) * 100),
climbrate : baro.get_climb_rate()
};
WriteBlock(&pkt2, sizeof(pkt2));
}
#endif
}
// Write an raw accel/gyro data packet