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DataFlash: added TERR log message for terrain data

This commit is contained in:
Andrew Tridgell 2014-08-06 12:16:07 +10:00
parent 2a288824c0
commit cd8fca40fb
1 changed files with 20 additions and 1 deletions
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21
libraries/DataFlash/DataFlash.h
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@ -376,6 +376,22 @@ struct PACKED log_Camera {
uint16_t yaw;
};
/*
terrain log structure
*/
struct PACKED log_TERRAIN {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint8_t status;
int32_t lat;
int32_t lng;
uint16_t spacing;
float terrain_height;
float current_height;
uint16_t pending;
uint16_t loaded;
};
// messages for all boards
#define LOG_BASE_STRUCTURES \
{ LOG_FORMAT_MSG, sizeof(log_Format), \
@ -422,7 +438,9 @@ struct PACKED log_Camera {
{ LOG_EKF3_MSG, sizeof(log_EKF3), \
"EKF3","Icccccchhhc","TimeMS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IVT" }, \
{ LOG_EKF4_MSG, sizeof(log_EKF4), \
"EKF4","IcccccccbbBB","TimeMS,SV,SP,SH,SMX,SMY,SMZ,SVT,OFN,EFE,FS,DS" }
"EKF4","IcccccccbbBB","TimeMS,SV,SP,SH,SMX,SMY,SMZ,SVT,OFN,EFE,FS,DS" }, \
{ LOG_TERRAIN_MSG, sizeof(log_TERRAIN), \
"TERR","IBLLHffHH","TimeMS,Status,Lat,Lng,Spacing,TerrH,CHeight,Pending,Loaded" }
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
#define LOG_COMMON_STRUCTURES LOG_BASE_STRUCTURES, LOG_EXTRA_STRUCTURES
@ -455,6 +473,7 @@ struct PACKED log_Camera {
#define LOG_ATRP_MSG 147
#define LOG_CAMERA_MSG 148
#define LOG_IMU3_MSG 149
#define LOG_TERRAIN_MSG 150
// message types 200 to 210 reversed for GPS driver use
// message types 211 to 220 reversed for autotune use