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

Copter: support logging while disarmed

This commit is contained in:
Andrew Tridgell 2014-10-17 11:37:49 +11:00 committed by Randy Mackay
parent 874efe95a1
commit c3d839456b
10 changed files with 66 additions and 30 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

27
ArduCopter/ArduCopter.pde
View File

@ -206,6 +206,9 @@ static AP_Notify notify;
// used to detect MAVLink acks from GCS to stop compassmot
static uint8_t command_ack_counter;
// has a log download started?
static bool in_log_download;
////////////////////////////////////////////////////////////////////////////////
// prototypes
////////////////////////////////////////////////////////////////////////////////
@ -951,7 +954,7 @@ static void barometer_accumulate(void)
static void perf_update(void)
{
if (g.log_bitmask & MASK_LOG_PM)
if (should_log(MASK_LOG_PM))
Log_Write_Performance();
if (scheduler.debug()) {
cliSerial->printf_P(PSTR("PERF: %u/%u %lu\n"),
@ -1089,7 +1092,7 @@ static void update_batt_compass(void)
compass.set_throttle((float)g.rc_3.servo_out/1000.0f);
compass.read();
// log compass information
if (g.log_bitmask & MASK_LOG_COMPASS) {
if (should_log(MASK_LOG_COMPASS)) {
Log_Write_Compass();
}
}
@ -1102,16 +1105,16 @@ static void update_batt_compass(void)
// should be run at 10hz
static void ten_hz_logging_loop()
{
if (g.log_bitmask & MASK_LOG_ATTITUDE_MED) {
if (should_log(MASK_LOG_ATTITUDE_MED)) {
Log_Write_Attitude();
}
if (g.log_bitmask & MASK_LOG_RCIN) {
if (should_log(MASK_LOG_RCIN)) {
DataFlash.Log_Write_RCIN();
}
if (g.log_bitmask & MASK_LOG_RCOUT) {
if (should_log(MASK_LOG_RCOUT)) {
DataFlash.Log_Write_RCOUT();
}
if ((g.log_bitmask & MASK_LOG_NTUN) && (mode_requires_GPS(control_mode) || landing_with_GPS())) {
if (should_log(MASK_LOG_NTUN) && (mode_requires_GPS(control_mode) || landing_with_GPS())) {
Log_Write_Nav_Tuning();
}
}
@ -1126,11 +1129,11 @@ static void fifty_hz_logging_loop()
#endif
#if HIL_MODE == HIL_MODE_DISABLED
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST) {
if (should_log(MASK_LOG_ATTITUDE_FAST)) {
Log_Write_Attitude();
}
if (g.log_bitmask & MASK_LOG_IMU) {
if (should_log(MASK_LOG_IMU)) {
DataFlash.Log_Write_IMU(ins);
}
#endif
@ -1160,7 +1163,7 @@ static void three_hz_loop()
// one_hz_loop - runs at 1Hz
static void one_hz_loop()
{
if (g.log_bitmask != 0) {
if (should_log(MASK_LOG_ANY)) {
Log_Write_Data(DATA_AP_STATE, ap.value);
}
@ -1219,7 +1222,7 @@ static void update_GPS(void)
last_gps_reading[i] = gps.last_message_time_ms(i);
// log GPS message
if (g.log_bitmask & MASK_LOG_GPS) {
if (should_log(MASK_LOG_GPS)) {
DataFlash.Log_Write_GPS(gps, i, current_loc.alt);
}
@ -1305,7 +1308,7 @@ init_simple_bearing()
super_simple_sin_yaw = simple_sin_yaw;
// log the simple bearing to dataflash
if (g.log_bitmask != 0) {
if (should_log(MASK_LOG_ANY)) {
Log_Write_Data(DATA_INIT_SIMPLE_BEARING, ahrs.yaw_sensor);
}
}
@ -1376,7 +1379,7 @@ static void update_altitude()
sonar_alt = read_sonar();
// write altitude info to dataflash logs
if (g.log_bitmask & MASK_LOG_CTUN) {
if (should_log(MASK_LOG_CTUN)) {
Log_Write_Control_Tuning();
}
}

14
ArduCopter/GCS_Mavlink.pde
View File

@ -1376,11 +1376,21 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_RADIO:
case MAVLINK_MSG_ID_RADIO_STATUS: // MAV ID: 109
{
handle_radio_status(msg, DataFlash, (g.log_bitmask & MASK_LOG_PM) != 0);
handle_radio_status(msg, DataFlash, should_log(MASK_LOG_PM));
break;
}
case MAVLINK_MSG_ID_LOG_REQUEST_LIST ... MAVLINK_MSG_ID_LOG_REQUEST_END: // MAV ID: 117 ... 122
case MAVLINK_MSG_ID_LOG_REQUEST_DATA:
case MAVLINK_MSG_ID_LOG_ERASE:
in_log_download = true;
// fallthru
case MAVLINK_MSG_ID_LOG_REQUEST_LIST:
if (!in_mavlink_delay && !motors.armed()) {
handle_log_message(msg, DataFlash);
}
break;
case MAVLINK_MSG_ID_LOG_REQUEST_END:
in_log_download = false;
if (!in_mavlink_delay && !motors.armed()) {
handle_log_message(msg, DataFlash);
}

12
ArduCopter/Log.pde
View File

@ -535,7 +535,7 @@ struct PACKED log_Event {
// Wrote an event packet
static void Log_Write_Event(uint8_t id)
{
if (g.log_bitmask != 0) {
if (should_log(MASK_LOG_ANY)) {
struct log_Event pkt = {
LOG_PACKET_HEADER_INIT(LOG_EVENT_MSG),
id : id
@ -553,7 +553,7 @@ struct PACKED log_Data_Int16t {
// Write an int16_t data packet
static void Log_Write_Data(uint8_t id, int16_t value)
{
if (g.log_bitmask != 0) {
if (should_log(MASK_LOG_ANY)) {
struct log_Data_Int16t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_INT16_MSG),
id : id,
@ -572,7 +572,7 @@ struct PACKED log_Data_UInt16t {
// Write an uint16_t data packet
static void Log_Write_Data(uint8_t id, uint16_t value)
{
if (g.log_bitmask != 0) {
if (should_log(MASK_LOG_ANY)) {
struct log_Data_UInt16t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_UINT16_MSG),
id : id,
@ -591,7 +591,7 @@ struct PACKED log_Data_Int32t {
// Write an int32_t data packet
static void Log_Write_Data(uint8_t id, int32_t value)
{
if (g.log_bitmask != 0) {
if (should_log(MASK_LOG_ANY)) {
struct log_Data_Int32t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_INT32_MSG),
id : id,
@ -610,7 +610,7 @@ struct PACKED log_Data_UInt32t {
// Write a uint32_t data packet
static void Log_Write_Data(uint8_t id, uint32_t value)
{
if (g.log_bitmask != 0) {
if (should_log(MASK_LOG_ANY)) {
struct log_Data_UInt32t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_UINT32_MSG),
id : id,
@ -629,7 +629,7 @@ struct PACKED log_Data_Float {
// Write a float data packet
static void Log_Write_Data(uint8_t id, float value)
{
if (g.log_bitmask != 0) {
if (should_log(MASK_LOG_ANY)) {
struct log_Data_Float pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_FLOAT_MSG),
id : id,

5
ArduCopter/Parameters.h
View File

@ -81,7 +81,7 @@ public:
// Misc
//
k_param_log_bitmask = 20,
k_param_log_bitmask_old = 20, // Deprecated
k_param_log_last_filenumber, // *** Deprecated - remove
// with next eeprom number
// change
@ -123,6 +123,7 @@ public:
k_param_throttle_deadzone,
k_param_optflow,
k_param_dcmcheck_thresh, // 59
k_param_log_bitmask,
// 65: AP_Limits Library
k_param_limits = 65, // deprecated - remove
@ -381,7 +382,7 @@ public:
// Misc
//
AP_Int16 log_bitmask;
AP_Int32 log_bitmask;
AP_Int8 esc_calibrate;
AP_Int8 radio_tuning;
AP_Int16 radio_tuning_high;

5
ArduCopter/Parameters.pde
View File

@ -348,8 +348,8 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Param: LOG_BITMASK
// @DisplayName: Log bitmask
// @Description: 2 byte bitmap of log types to enable
// @Values: 830:Default,894:Default+RCIN,958:Default+IMU,1854:Default+Motors,-6146:NearlyAll,-22530:All,0:Disabled
// @Description: 4 byte bitmap of log types to enable
// @Values: 830:Default,894:Default+RCIN,958:Default+IMU,1854:Default+Motors,59390:NearlyAll,131071:All+DisarmedLogging,0:Disabled
// @User: Standard
GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),
@ -1144,6 +1144,7 @@ const AP_Param::ConversionInfo conversion_table[] PROGMEM = {
{ Parameters::k_param_volt_div_ratio, 0, AP_PARAM_FLOAT, "BATT_VOLT_MULT" },
{ Parameters::k_param_curr_amp_per_volt, 0, AP_PARAM_FLOAT, "BATT_AMP_PERVOLT" },
{ Parameters::k_param_pack_capacity, 0, AP_PARAM_INT32, "BATT_CAPACITY" },
{ Parameters::k_param_log_bitmask_old, 0, AP_PARAM_INT16, "LOG_BITMASK" },
};
static void load_parameters(void)

2
ArduCopter/commands.pde
View File

@ -14,7 +14,7 @@ static void init_home()
inertial_nav.setup_home_position();
// log new home position which mission library will pull from ahrs
if (g.log_bitmask & MASK_LOG_CMD) {
if (should_log(MASK_LOG_CMD)) {
AP_Mission::Mission_Command temp_cmd;
if (mission.read_cmd_from_storage(0, temp_cmd)) {
Log_Write_Cmd(temp_cmd);

4
ArduCopter/commands_logic.pde
View File

@ -37,7 +37,7 @@ static void auto_spline_start(const Vector3f& destination, bool stopped_at_start
static bool start_command(const AP_Mission::Mission_Command& cmd)
{
// To-Do: logging when new commands start/end
if (g.log_bitmask & MASK_LOG_CMD) {
if (should_log(MASK_LOG_CMD)) {
Log_Write_Cmd(cmd);
}
@ -925,7 +925,7 @@ static void do_take_picture()
{
#if CAMERA == ENABLED
camera.trigger_pic();
if (g.log_bitmask & MASK_LOG_CAMERA) {
if (should_log(MASK_LOG_CAMERA)) {
DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
}
#endif

2
ArduCopter/defines.h
View File

@ -255,6 +255,8 @@ enum FlipState {
#define MASK_LOG_COMPASS (1<<13)
#define MASK_LOG_INAV (1<<14) // deprecated
#define MASK_LOG_CAMERA (1<<15)
#define MASK_LOG_WHEN_DISARMED (1UL<<16)
#define MASK_LOG_ANY 0xFFFF
// DATA - event logging
#define DATA_MAVLINK_FLOAT 1

6
ArduCopter/sensors.pde
View File

@ -22,7 +22,7 @@ static void init_barometer(bool full_calibration)
static int32_t read_barometer(void)
{
barometer.read();
if (g.log_bitmask & MASK_LOG_IMU) {
if (should_log(MASK_LOG_IMU)) {
Log_Write_Baro();
}
int32_t balt = barometer.get_altitude() * 100.0f;
@ -124,7 +124,7 @@ static void update_optflow(void)
// write to log if new data has arrived
if (optflow.last_update() != last_of_update) {
last_of_update = optflow.last_update();
if (g.log_bitmask & MASK_LOG_OPTFLOW) {
if (should_log(MASK_LOG_OPTFLOW)) {
Log_Write_Optflow();
}
}
@ -149,7 +149,7 @@ static void read_battery(void)
}
// log battery info to the dataflash
if (g.log_bitmask & MASK_LOG_CURRENT) {
if (should_log(MASK_LOG_CURRENT)) {
Log_Write_Current();
}
}

19
ArduCopter/system.pde
View File

@ -403,3 +403,22 @@ static void telemetry_send(void)
(AP_Frsky_Telem::FrSkyProtocol)g.serial2_protocol.get());
#endif
}
/*
should we log a message type now?
*/
static bool should_log(uint32_t mask)
{
if (!(mask & g.log_bitmask) || in_mavlink_delay) {
return false;
}
bool ret = motors.armed() || (g.log_bitmask & MASK_LOG_WHEN_DISARMED) != 0;
if (ret && !DataFlash.logging_started() && !in_log_download) {
// we have to set in_mavlink_delay to prevent logging while
// writing headers
in_mavlink_delay = true;
start_logging();
in_mavlink_delay = false;
}
return ret;
}