From d8582d864af91f61aa6db1a5bf3f010f260759b7 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 15 Apr 2020 12:17:37 +1000 Subject: [PATCH] AP_Logger: convert Solo gimbal messages to TimeUS from TimeMS Also remove unused gimbal3 message entirely --- libraries/AP_Logger/LogStructure.h | 19 ++++--------------- 1 file changed, 4 insertions(+), 15 deletions(-) diff --git a/libraries/AP_Logger/LogStructure.h b/libraries/AP_Logger/LogStructure.h index cde873942a..09f3b648fb 100644 --- a/libraries/AP_Logger/LogStructure.h +++ b/libraries/AP_Logger/LogStructure.h @@ -287,7 +287,7 @@ struct PACKED log_Vibe { struct PACKED log_Gimbal1 { LOG_PACKET_HEADER; - uint32_t time_ms; + uint64_t time_us; float delta_time; float delta_angles_x; float delta_angles_y; @@ -302,7 +302,7 @@ struct PACKED log_Gimbal1 { struct PACKED log_Gimbal2 { LOG_PACKET_HEADER; - uint32_t time_ms; + uint64_t time_us; uint8_t est_sta; float est_x; float est_y; @@ -315,14 +315,6 @@ struct PACKED log_Gimbal2 { float target_z; }; -struct PACKED log_Gimbal3 { - LOG_PACKET_HEADER; - uint32_t time_ms; - int16_t rl_torque_cmd; - int16_t el_torque_cmd; - int16_t az_torque_cmd; -}; - struct PACKED log_RCIN { LOG_PACKET_HEADER; uint64_t time_us; @@ -2238,11 +2230,9 @@ struct PACKED log_Arm_Disarm { { LOG_RPM_MSG, sizeof(log_RPM), \ "RPM", "Qff", "TimeUS,rpm1,rpm2", "sqq", "F00" }, \ { LOG_GIMBAL1_MSG, sizeof(log_Gimbal1), \ - "GMB1", "Iffffffffff", "TimeMS,dt,dax,day,daz,dvx,dvy,dvz,jx,jy,jz", "ssrrrEEELLL", "CC000000000" }, \ + "GMB1", "Qffffffffff", "TimeUS,dt,dax,day,daz,dvx,dvy,dvz,jx,jy,jz", "ssrrrEEELLL", "FC000000000" }, \ { LOG_GIMBAL2_MSG, sizeof(log_Gimbal2), \ - "GMB2", "IBfffffffff", "TimeMS,es,ex,ey,ez,rx,ry,rz,tx,ty,tz", "s-rrrEEELLL", "C-000000000" }, \ - { LOG_GIMBAL3_MSG, sizeof(log_Gimbal3), \ - "GMB3", "Ihhh", "TimeMS,rl_torque_cmd,el_torque_cmd,az_torque_cmd", "s???", "C???" }, \ + "GMB2", "QBfffffffff", "TimeUS,es,ex,ey,ez,rx,ry,rz,tx,ty,tz", "s-rrrEEELLL", "F-000000000" }, \ { LOG_RATE_MSG, sizeof(log_Rate), \ "RATE", "Qffffffffffff", "TimeUS,RDes,R,ROut,PDes,P,POut,YDes,Y,YOut,ADes,A,AOut", "skk-kk-kk-oo-", "F?????????BB-" }, \ { LOG_RALLY_MSG, sizeof(log_Rally), \ @@ -2394,7 +2384,6 @@ enum LogMessages : uint8_t { LOG_GIMBAL1_MSG, LOG_GIMBAL2_MSG, - LOG_GIMBAL3_MSG, LOG_RATE_MSG, LOG_RALLY_MSG, LOG_VISUALODOM_MSG,