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DataFlash: Add common-vehicle Attitude logging message.

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This commit is contained in:
Robert Lefebvre 2014-12-18 11:55:11 -05:00 committed by Randy Mackay
parent 743c5e4fde
commit db1a066f43
2 changed files with 36 additions and 1 deletions
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19
libraries/DataFlash/DataFlash.h
View File

@ -79,6 +79,7 @@ public:
void Log_Write_Camera(const AP_AHRS &ahrs, const AP_GPS &gps, const Location &current_loc);
void Log_Write_ESC(void);
void Log_Write_Airspeed(AP_Airspeed &airspeed);
void Log_Write_Attitude(AP_AHRS &ahrs, Vector3f targets);
bool logging_started(void) const { return log_write_started; }
@ -405,6 +406,19 @@ struct PACKED log_Camera {
uint16_t yaw;
};
struct PACKED log_Attitude {
LOG_PACKET_HEADER;
uint32_t time_ms;
int16_t control_roll;
int16_t roll;
int16_t control_pitch;
int16_t pitch;
uint16_t control_yaw;
uint16_t yaw;
uint16_t error_rp;
uint16_t error_yaw;
};
/*
terrain log structure
*/
@ -548,7 +562,9 @@ struct PACKED log_AIRSPEED {
{ LOG_ESC8_MSG, sizeof(log_Esc), \
"ESC8", "Icccc", "TimeMS,RPM,Volt,Curr,Temp" }, \
{ LOG_EKF5_MSG, sizeof(log_EKF5), \
"EKF5","IBhhhcccCC","TimeMS,normInnov,FIX,FIY,AFI,HAGL,offset,RI,meaRng,errHAGL" }
"EKF5","IBhhhcccCC","TimeMS,normInnov,FIX,FIY,AFI,HAGL,offset,RI,meaRng,errHAGL" }, \
{ LOG_ATTITUDE_MSG, sizeof(log_Attitude),\
"ATT", "IccccCCCC", "TimeMS,DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw,ErrRP,ErrYaw" }
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
#define LOG_COMMON_STRUCTURES LOG_BASE_STRUCTURES, LOG_EXTRA_STRUCTURES
@ -596,6 +612,7 @@ struct PACKED log_AIRSPEED {
#define LOG_EKF5_MSG 162
#define LOG_BAR2_MSG 163
#define LOG_ARSP_MSG 164
#define LOG_ATTITUDE_MSG 165
// message types 200 to 210 reversed for GPS driver use
// message types 211 to 220 reversed for autotune use

18
libraries/DataFlash/LogFile.cpp
View File

@ -1113,6 +1113,24 @@ void DataFlash_Class::Log_Write_Camera(const AP_AHRS &ahrs, const AP_GPS &gps, c
WriteBlock(&pkt, sizeof(pkt));
}
// Write an attitude packet
void DataFlash_Class::Log_Write_Attitude(AP_AHRS &ahrs, Vector3f targets)
{
struct log_Attitude pkt = {
LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG),
time_ms : hal.scheduler->millis(),
control_roll : (int16_t)targets.x,
roll : (int16_t)ahrs.roll_sensor,
control_pitch : (int16_t)targets.y,
pitch : (int16_t)ahrs.pitch_sensor,
control_yaw : (uint16_t)targets.z,
yaw : (uint16_t)ahrs.yaw_sensor,
error_rp : (uint16_t)(ahrs.get_error_rp() * 100),
error_yaw : (uint16_t)(ahrs.get_error_yaw() * 100)
};
WriteBlock(&pkt, sizeof(pkt));
}
// Write ESC status messages
void DataFlash_Class::Log_Write_ESC(void)
{