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Rover: log INS errors in PM message

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Randy Mackay 2013-11-18 13:08:53 +09:00
parent c01a3debd6
commit e7d5d9a2b7
1 changed files with 4 additions and 4 deletions
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8
APMrover2/Log.pde
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@ -168,11 +168,11 @@ struct PACKED log_Performance {
uint32_t g_dt_max;
uint8_t renorm_count;
uint8_t renorm_blowup;
uint8_t gps_fix_count;
int16_t gyro_drift_x;
int16_t gyro_drift_y;
int16_t gyro_drift_z;
uint8_t i2c_lockup_count;
uint16_t ins_error_count;
};
// Write a performance monitoring packet. Total length : 19 bytes
@ -185,11 +185,11 @@ static void Log_Write_Performance()
g_dt_max : G_Dt_max,
renorm_count : ahrs.renorm_range_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_y : (int16_t)(ahrs.get_gyro_drift().y * 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));
}
@ -454,7 +454,7 @@ static const struct LogStructure log_structure[] PROGMEM = {
{ LOG_ATTITUDE_MSG, sizeof(log_Attitude),
"ATT", "ccC", "Roll,Pitch,Yaw" },
{ 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),
"CMD", "BBBBBeLL", "CTot,CNum,CId,COpt,Prm1,Alt,Lat,Lng" },
{ LOG_CAMERA_MSG, sizeof(log_Camera),