Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-10 18:08:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

Rover: log INS errors in PM message

Browse Source
This commit is contained in:
Randy Mackay 2013-11-18 13:08:53 +09:00
parent c01a3debd6
commit e7d5d9a2b7
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
APMrover2/Log.pde
View File

@ -168,11 +168,11 @@ struct PACKED log_Performance {
uint32_t g_dt_max; uint32_t g_dt_max;
uint8_t renorm_count; uint8_t renorm_count;
uint8_t renorm_blowup; uint8_t renorm_blowup;
uint8_t gps_fix_count;
int16_t gyro_drift_x; int16_t gyro_drift_x;
int16_t gyro_drift_y; int16_t gyro_drift_y;
int16_t gyro_drift_z; int16_t gyro_drift_z;
uint8_t i2c_lockup_count; uint8_t i2c_lockup_count;
uint16_t ins_error_count;
}; };
// Write a performance monitoring packet. Total length : 19 bytes // Write a performance monitoring packet. Total length : 19 bytes
@ -185,11 +185,11 @@ static void Log_Write_Performance()
g_dt_max : G_Dt_max, g_dt_max : G_Dt_max,
renorm_count : ahrs.renorm_range_count, renorm_count : ahrs.renorm_range_count,
renorm_blowup : ahrs.renorm_blowup_count, renorm_blowup : ahrs.renorm_blowup_count,
gps_fix_count : gps_fix_count,
gyro_drift_x : (int16_t)(ahrs.get_gyro_drift().x * 1000), gyro_drift_x : (int16_t)(ahrs.get_gyro_drift().x * 1000),
gyro_drift_y : (int16_t)(ahrs.get_gyro_drift().y * 1000), gyro_drift_y : (int16_t)(ahrs.get_gyro_drift().y * 1000),
gyro_drift_z : (int16_t)(ahrs.get_gyro_drift().z * 1000), gyro_drift_z : (int16_t)(ahrs.get_gyro_drift().z * 1000),
i2c_lockup_count: hal.i2c->lockup_count() i2c_lockup_count: hal.i2c->lockup_count(),
ins_error_count : ins.error_count()
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); DataFlash.WriteBlock(&pkt, sizeof(pkt));
} }
@ -454,7 +454,7 @@ static const struct LogStructure log_structure[] PROGMEM = {
{ LOG_ATTITUDE_MSG, sizeof(log_Attitude), { LOG_ATTITUDE_MSG, sizeof(log_Attitude),
"ATT", "ccC", "Roll,Pitch,Yaw" }, "ATT", "ccC", "Roll,Pitch,Yaw" },
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance), { LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "IHIBBBhhhB", "LTime,MLC,gDt,RNCnt,RNBl,GPScnt,GDx,GDy,GDz,I2CErr" }, "PM", "IHIBBhhhBH", "LTime,MLC,gDt,RNCnt,RNBl,GDx,GDy,GDz,I2CErr,INSErr" },
{ LOG_CMD_MSG, sizeof(log_Cmd), { LOG_CMD_MSG, sizeof(log_Cmd),
"CMD", "BBBBBeLL", "CTot,CNum,CId,COpt,Prm1,Alt,Lat,Lng" }, "CMD", "BBBBBeLL", "CTot,CNum,CId,COpt,Prm1,Alt,Lat,Lng" },
{ LOG_CAMERA_MSG, sizeof(log_Camera), { LOG_CAMERA_MSG, sizeof(log_Camera),