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

DataFlash: log rangefinder status in RFND msg

This commit is contained in:
Randy Mackay 2018-11-14 12:00:09 +09:00 committed by Andrew Tridgell
parent 07bbf75a8b
commit bd96fe6f33
2 changed files with 5 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/DataFlash/LogFile.cpp
View File

@ -188,8 +188,10 @@ void DataFlash_Class::Log_Write_RFND(const RangeFinder &rangefinder)
LOG_PACKET_HEADER_INIT((uint8_t)(LOG_RFND_MSG)),
time_us : AP_HAL::micros64(),
dist1 : s0 ? s0->distance_cm() : (uint16_t)0,
status1 : s0 ? (uint8_t)s0->status() : (uint8_t)0,
orient1 : s0 ? s0->orientation() : ROTATION_NONE,
dist2 : s1 ? s1->distance_cm() : (uint16_t)0,
status2 : s1 ? (uint8_t)s1->status() : (uint8_t)0,
orient2 : s1 ? s1->orientation() : ROTATION_NONE,
};
WriteBlock(&pkt, sizeof(pkt));

4
libraries/DataFlash/LogStructure.h
View File

@ -722,8 +722,10 @@ struct PACKED log_RFND {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t dist1;
uint8_t status1;
uint8_t orient1;
uint16_t dist2;
uint8_t status2;
uint8_t orient2;
};
@ -1237,7 +1239,7 @@ Format characters in the format string for binary log messages
{ LOG_MODE_MSG, sizeof(log_Mode), \
"MODE", "QMBB", "TimeUS,Mode,ModeNum,Rsn", "s---", "F---" }, \
{ LOG_RFND_MSG, sizeof(log_RFND), \
"RFND", "QCBCB", "TimeUS,Dist1,Orient1,Dist2,Orient2", "sm-m-", "FB-B-" }, \
"RFND", "QCBBCBB", "TimeUS,Dist1,Stat1,Orient1,Dist2,Stat2,Orient2", "sm--m--", "FB--B--" }, \
{ LOG_DF_MAV_STATS, sizeof(log_DF_MAV_Stats), \
"DMS", "IIIIIBBBBBBBBBB", "TimeMS,N,Dp,RT,RS,Er,Fa,Fmn,Fmx,Pa,Pmn,Pmx,Sa,Smn,Smx", "s--------------", "C--------------" }, \
{ LOG_BEACON_MSG, sizeof(log_Beacon), \