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Rover: support for units on fields

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Peter Barker 2015-12-08 14:24:58 +11:00 committed by Peter Barker
parent 22f1b5ed6f
commit bf6b3a72bc
1 changed files with 13 additions and 10 deletions
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23
APMrover2/Log.cpp
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@ -325,28 +325,31 @@ void Rover::Log_Write_WheelEncoder()
DataFlash.WriteBlock(&pkt, sizeof(pkt)); DataFlash.WriteBlock(&pkt, sizeof(pkt));
} }
// type and unit information can be found in
// libraries/DataFlash/Logstructure.h; search for "log_Units" for
// units and "Format characters" for field type information
const LogStructure Rover::log_structure[] = { const LogStructure Rover::log_structure[] = {
LOG_COMMON_STRUCTURES, LOG_COMMON_STRUCTURES,
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance), { LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "QIHIhhhBHI", "TimeUS,LTime,MLC,gDt,GDx,GDy,GDz,I2CErr,INSErr,Mem" }, "PM", "QIHIhhhBHI", "TimeUS,LTime,MLC,gDt,GDx,GDy,GDz,I2CErr,INSErr,Mem", "ss-------b", "FC-------0" },
{ LOG_STARTUP_MSG, sizeof(log_Startup), { LOG_STARTUP_MSG, sizeof(log_Startup),
"STRT", "QBH", "TimeUS,SType,CTot" }, "STRT", "QBH", "TimeUS,SType,CTot", "s--", "F--" },
{ LOG_CTUN_MSG, sizeof(log_Control_Tuning), { LOG_CTUN_MSG, sizeof(log_Control_Tuning),
"CTUN", "Qhcchf", "TimeUS,Steer,Roll,Pitch,ThrOut,AccY" }, "CTUN", "Qhcchf", "TimeUS,Steer,Roll,Pitch,ThrOut,AccY", "s-dd-o", "F-BB-0" },
{ LOG_NTUN_MSG, sizeof(log_Nav_Tuning), { LOG_NTUN_MSG, sizeof(log_Nav_Tuning),
"NTUN", "QHfHHbf", "TimeUS,Yaw,WpDist,TargBrg,NavBrg,Thr,XT" }, "NTUN", "QHfHHbf", "TimeUS,Yaw,WpDist,TargBrg,NavBrg,Thr,XT", "sdmdd-m", "FB0BB-0" },
{ LOG_RANGEFINDER_MSG, sizeof(log_Rangefinder), { LOG_RANGEFINDER_MSG, sizeof(log_Rangefinder),
"RGFD", "QfHHHbHCb", "TimeUS,LatAcc,R1Dist,R2Dist,DCnt,TAng,TTim,Spd,Thr" }, "RGFD", "QfHHHbHCb", "TimeUS,LatAcc,R1Dist,R2Dist,DCnt,TAng,TTim,Spd,Thr", "somm-hsm-", "F0BB-0CB-" },
{ LOG_ARM_DISARM_MSG, sizeof(log_Arm_Disarm), { LOG_ARM_DISARM_MSG, sizeof(log_Arm_Disarm),
"ARM", "QBH", "TimeUS,ArmState,ArmChecks" }, "ARM", "QBH", "TimeUS,ArmState,ArmChecks", "s--", "F--" },
{ LOG_STEERING_MSG, sizeof(log_Steering), { LOG_STEERING_MSG, sizeof(log_Steering),
"STER", "Qff", "TimeUS,Demanded,Achieved" }, "STER", "Qff", "TimeUS,Demanded,Achieved", "so?", "F0?" },
{ LOG_GUIDEDTARGET_MSG, sizeof(log_GuidedTarget), { LOG_GUIDEDTARGET_MSG, sizeof(log_GuidedTarget),
"GUID", "QBffffff", "TimeUS,Type,pX,pY,pZ,vX,vY,vZ" }, "GUID", "QBffffff", "TimeUS,Type,pX,pY,pZ,vX,vY,vZ", "s-mmmnnn", "F-000000" },
{ LOG_ERROR_MSG, sizeof(log_Error), { LOG_ERROR_MSG, sizeof(log_Error),
"ERR", "QBB", "TimeUS,Subsys,ECode" }, "ERR", "QBB", "TimeUS,Subsys,ECode", "s--", "F--" },
{ LOG_WHEELENCODER_MSG, sizeof(log_WheelEncoder), { LOG_WHEELENCODER_MSG, sizeof(log_WheelEncoder),
"WENC", "Qfbfb", "TimeUS,Dist0,Qual0,Dist1,Qual1" }, "WENC", "Qfbfb", "TimeUS,Dist0,Qual0,Dist1,Qual1", "sm-m-", "F0-0-" },
}; };
void Rover::log_init(void) void Rover::log_init(void)