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Copter: integrate precland logging changes

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This commit is contained in:
fnoop 2018-08-08 10:31:16 +09:00 committed by Randy Mackay
parent bfceb5dd32
commit cbde39c844
1 changed files with 18 additions and 4 deletions
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22
ArduCopter/Log.cpp
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@ -420,9 +420,15 @@ struct PACKED log_Precland {
float pos_y;
float vel_x;
float vel_y;
float meas_x;
float meas_y;
float meas_z;
uint32_t last_meas;
uint32_t ekf_outcount;
uint8_t estimator;
};
// Write an optical flow packet
// Write a precision landing entry
void Copter::Log_Write_Precland()
{
#if PRECISION_LANDING == ENABLED
@ -431,10 +437,12 @@ void Copter::Log_Write_Precland()
return;
}
Vector3f target_pos_meas = Vector3f(0.0f,0.0f,0.0f);
Vector2f target_pos_rel = Vector2f(0.0f,0.0f);
Vector2f target_vel_rel = Vector2f(0.0f,0.0f);
precland.get_target_position_relative_cm(target_pos_rel);
precland.get_target_velocity_relative_cms(target_vel_rel);
precland.get_target_position_measurement_cm(target_pos_meas);
struct log_Precland pkt = {
LOG_PACKET_HEADER_INIT(LOG_PRECLAND_MSG),
@ -444,13 +452,19 @@ void Copter::Log_Write_Precland()
pos_x : target_pos_rel.x,
pos_y : target_pos_rel.y,
vel_x : target_vel_rel.x,
vel_y : target_vel_rel.y
vel_y : target_vel_rel.y,
meas_x : target_pos_meas.x,
meas_y : target_pos_meas.y,
meas_z : target_pos_meas.z,
last_meas : precland.last_backend_los_meas_ms(),
ekf_outcount : precland.ekf_outlier_count(),
estimator : precland.estimator_type()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
#endif // PRECISION_LANDING == ENABLED
}
// precision landing logging
// guided target logging
struct PACKED log_GuidedTarget {
LOG_PACKET_HEADER;
uint64_t time_us;
@ -521,7 +535,7 @@ const struct LogStructure Copter::log_structure[] = {
#endif
#if PRECISION_LANDING == ENABLED
{ LOG_PRECLAND_MSG, sizeof(log_Precland),
"PL", "QBBffff", "TimeUS,Heal,TAcq,pX,pY,vX,vY", "s--ddmm","F--00BB" },
"PL", "QBBfffffffIIB", "TimeUS,Heal,TAcq,pX,pY,vX,vY,mX,mY,mZ,LastMeasUS,EKFOutl,Est", "s--ddmmddms--","F--00BB00BC--" },
#endif
{ LOG_GUIDEDTARGET_MSG, sizeof(log_GuidedTarget),
"GUID", "QBffffff", "TimeUS,Type,pX,pY,pZ,vX,vY,vZ", "s-mmmnnn", "F-000000" },