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DataFlash: log gyro and accel error counts

This commit is contained in:
Andrew Tridgell 2014-12-29 21:19:50 +11:00
parent b9adc6e466
commit e0943851d6
2 changed files with 13 additions and 6 deletions
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7
libraries/DataFlash/DataFlash.h
View File

@ -217,6 +217,7 @@ struct PACKED log_IMU {
uint32_t timestamp;
float gyro_x, gyro_y, gyro_z;
float accel_x, accel_y, accel_z;
uint32_t gyro_error, accel_error;
};
struct PACKED log_RCIN {
@ -467,7 +468,7 @@ struct PACKED log_Esc {
{ LOG_GPS_MSG, sizeof(log_GPS), \
"GPS", "BIHBcLLeeEefI", "Status,TimeMS,Week,NSats,HDop,Lat,Lng,RelAlt,Alt,Spd,GCrs,VZ,T" }, \
{ LOG_IMU_MSG, sizeof(log_IMU), \
"IMU", "Iffffff", "TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ" }, \
"IMU", "IffffffII", "TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA" }, \
{ LOG_MESSAGE_MSG, sizeof(log_Message), \
"MSG", "Z", "Message"}, \
{ LOG_RCIN_MSG, sizeof(log_RCIN), \
@ -490,9 +491,9 @@ struct PACKED log_Esc {
{ LOG_GPS2_MSG, sizeof(log_GPS2), \
"GPS2", "BIHBcLLeEefIBI", "Status,TimeMS,Week,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,T,DSc,DAg" }, \
{ LOG_IMU2_MSG, sizeof(log_IMU), \
"IMU2", "Iffffff", "TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ" }, \
"IMU2", "IffffffII", "TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA" }, \
{ LOG_IMU3_MSG, sizeof(log_IMU), \
"IMU3", "Iffffff", "TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ" }, \
"IMU3", "IffffffII", "TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA" }, \
{ LOG_AHR2_MSG, sizeof(log_AHRS), \
"AHR2","IccCfLL","TimeMS,Roll,Pitch,Yaw,Alt,Lat,Lng" }, \
{ LOG_SIMSTATE_MSG, sizeof(log_AHRS), \

12
libraries/DataFlash/LogFile.cpp
View File

@ -790,7 +790,9 @@ void DataFlash_Class::Log_Write_IMU(const AP_InertialSensor &ins)
gyro_z : gyro.z,
accel_x : accel.x,
accel_y : accel.y,
accel_z : accel.z
accel_z : accel.z,
gyro_error : ins.get_gyro_error_count(0),
accel_error : ins.get_accel_error_count(0)
};
WriteBlock(&pkt, sizeof(pkt));
if (ins.get_gyro_count() < 2 && ins.get_accel_count() < 2) {
@ -807,7 +809,9 @@ void DataFlash_Class::Log_Write_IMU(const AP_InertialSensor &ins)
gyro_z : gyro2.z,
accel_x : accel2.x,
accel_y : accel2.y,
accel_z : accel2.z
accel_z : accel2.z,
gyro_error : ins.get_gyro_error_count(1),
accel_error : ins.get_accel_error_count(1)
};
WriteBlock(&pkt2, sizeof(pkt2));
if (ins.get_gyro_count() < 3 && ins.get_accel_count() < 3) {
@ -823,7 +827,9 @@ void DataFlash_Class::Log_Write_IMU(const AP_InertialSensor &ins)
gyro_z : gyro3.z,
accel_x : accel3.x,
accel_y : accel3.y,
accel_z : accel3.z
accel_z : accel3.z,
gyro_error : ins.get_gyro_error_count(2),
accel_error : ins.get_accel_error_count(3)
};
WriteBlock(&pkt3, sizeof(pkt3));
#endif