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Rover: add video stab log bit and log in ahrs_update

This commit is contained in:
Iampete1 2021-12-15 19:09:29 +00:00 committed by Andrew Tridgell
parent d473344177
commit bb73d31e0b
3 changed files with 7 additions and 1 deletions
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2
Rover/Parameters.cpp
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@ -19,7 +19,7 @@ const AP_Param::Info Rover::var_info[] = {
// @Param: LOG_BITMASK // @Param: LOG_BITMASK
// @DisplayName: Log bitmask // @DisplayName: Log bitmask
// @Description: Bitmap of what log types to enable in on-board logger. This value is made up of the sum of each of the log types you want to be saved. On boards supporting microSD cards or other large block-storage devices it is usually best just to enable all log types by setting this to 65535. The individual bits are ATTITUDE_FAST=1, ATTITUDE_MEDIUM=2, GPS=4, PerformanceMonitoring=8, ControlTuning=16, NavigationTuning=32, Mode=64, IMU=128, Commands=256, Battery=512, Compass=1024, TECS=2048, Camera=4096, RCandServo=8192, Rangefinder=16384, Arming=32768, FullLogs=65535 // @Description: Bitmap of what log types to enable in on-board logger. This value is made up of the sum of each of the log types you want to be saved. On boards supporting microSD cards or other large block-storage devices it is usually best just to enable all log types by setting this to 65535. The individual bits are ATTITUDE_FAST=1, ATTITUDE_MEDIUM=2, GPS=4, PerformanceMonitoring=8, ControlTuning=16, NavigationTuning=32, Mode=64, IMU=128, Commands=256, Battery=512, Compass=1024, TECS=2048, Camera=4096, RCandServo=8192, Rangefinder=16384, Arming=32768, FullLogs=65535
// @Bitmask: 0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:THR,5:NTUN,7:IMU,8:CMD,9:CURRENT,10:RANGEFINDER,11:COMPASS,12:CAMERA,13:STEERING,14:RC,15:ARM/DISARM,19:IMU_RAW // @Bitmask: 0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:THR,5:NTUN,7:IMU,8:CMD,9:CURRENT,10:RANGEFINDER,11:COMPASS,12:CAMERA,13:STEERING,14:RC,15:ARM/DISARM,19:IMU_RAW,20:VideoStabilization
// @User: Advanced // @User: Advanced
GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK), GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),

4
Rover/Rover.cpp
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@ -289,6 +289,10 @@ void Rover::ahrs_update()
if (should_log(MASK_LOG_IMU)) { if (should_log(MASK_LOG_IMU)) {
AP::ins().Write_IMU(); AP::ins().Write_IMU();
} }
if (should_log(MASK_LOG_VIDEO_STABILISATION)) {
ahrs.write_video_stabilisation();
}
} }
/* /*

2
Rover/defines.h
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@ -45,6 +45,8 @@ enum LoggingParameters {
#define MASK_LOG_RC (1<<14) #define MASK_LOG_RC (1<<14)
// #define MASK_LOG_ARM_DISARM (1<<15) // #define MASK_LOG_ARM_DISARM (1<<15)
#define MASK_LOG_IMU_RAW (1UL<<19) #define MASK_LOG_IMU_RAW (1UL<<19)
#define MASK_LOG_VIDEO_STABILISATION (1UL<<20)
// for mavlink SET_POSITION_TARGET messages // for mavlink SET_POSITION_TARGET messages
#define MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE ((1<<0) | (1<<1)) #define MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE ((1<<0) | (1<<1))