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ArduCopter - Log.pde - fixed Log_Read_Control_Tuning so that it doesn't read too many bytes. Also fixed up some comments

This commit is contained in:
Randy Mackay 2012-02-05 16:56:51 +09:00
parent 90b39609c6
commit f1a129c8ea
1 changed files with 30 additions and 27 deletions
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57
ArduCopter/Log.pde
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@ -222,7 +222,7 @@ void print_latlon(BetterStream *s, int32_t lat_or_lon)
s->printf("%ld.%07ld",dec_portion,frac_portion); s->printf("%ld.%07ld",dec_portion,frac_portion);
} }
// Write an GPS packet. Total length : 30 bytes // Write an GPS packet. Total length : 31 bytes
static void Log_Write_GPS() static void Log_Write_GPS()
{ {
DataFlash.WriteByte(HEAD_BYTE1); DataFlash.WriteByte(HEAD_BYTE1);
@ -313,6 +313,7 @@ static void Log_Read_Raw()
Serial.println(" "); Serial.println(" ");
} }
// Write an Current data packet. Total length : 16 bytes
static void Log_Write_Current() static void Log_Write_Current()
{ {
DataFlash.WriteByte(HEAD_BYTE1); DataFlash.WriteByte(HEAD_BYTE1);
@ -346,6 +347,7 @@ static void Log_Read_Current()
temp5); temp5);
} }
// Write an Motors packet. Total length : 12 ~ 20 bytes
static void Log_Write_Motors() static void Log_Write_Motors()
{ {
DataFlash.WriteByte(HEAD_BYTE1); DataFlash.WriteByte(HEAD_BYTE1);
@ -404,7 +406,7 @@ static void Log_Write_Motors()
DataFlash.WriteByte(END_BYTE); DataFlash.WriteByte(END_BYTE);
} }
// Read a Current packet // Read a Motors packet.
static void Log_Read_Motors() static void Log_Read_Motors()
{ {
#if FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME #if FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME
@ -472,7 +474,7 @@ static void Log_Read_Motors()
#endif #endif
} }
// Write an optical flow packet. Total length : 18 bytes // Write an optical flow packet. Total length : 30 bytes
static void Log_Write_Optflow() static void Log_Write_Optflow()
{ {
#ifdef OPTFLOW_ENABLED #ifdef OPTFLOW_ENABLED
@ -492,7 +494,7 @@ static void Log_Write_Optflow()
#endif #endif
} }
// Read an optical flow packet.
static void Log_Read_Optflow() static void Log_Read_Optflow()
{ {
#ifdef OPTFLOW_ENABLED #ifdef OPTFLOW_ENABLED
@ -519,6 +521,7 @@ static void Log_Read_Optflow()
#endif #endif
} }
// Write an Nav Tuning packet. Total length : 24 bytes
static void Log_Write_Nav_Tuning() static void Log_Write_Nav_Tuning()
{ {
//Matrix3f tempmat = dcm.get_dcm_matrix(); //Matrix3f tempmat = dcm.get_dcm_matrix();
@ -553,7 +556,7 @@ static void Log_Write_Nav_Tuning()
DataFlash.WriteByte(END_BYTE); DataFlash.WriteByte(END_BYTE);
} }
// Read a Nav Tuning packet.
static void Log_Read_Nav_Tuning() static void Log_Read_Nav_Tuning()
{ {
int16_t temp; int16_t temp;
@ -564,13 +567,13 @@ static void Log_Read_Nav_Tuning()
temp = DataFlash.ReadInt(); temp = DataFlash.ReadInt();
Serial.printf("%d, ", temp); Serial.printf("%d, ", temp);
} }
// read 10
temp = DataFlash.ReadInt(); temp = DataFlash.ReadInt();
Serial.printf("%d\n", temp); Serial.printf("%d\n", temp);
} }
// Write a control tuning packet. Total length : 22 bytes // Write a control tuning packet. Total length : 26 bytes
static void Log_Write_Control_Tuning() static void Log_Write_Control_Tuning()
{ {
DataFlash.WriteByte(HEAD_BYTE1); DataFlash.WriteByte(HEAD_BYTE1);
@ -599,27 +602,26 @@ static void Log_Read_Control_Tuning()
Serial.printf_P(PSTR("CTUN, ")); Serial.printf_P(PSTR("CTUN, "));
for(int8_t i = 0; i < 11; i++ ){ for(int8_t i = 1; i < 11; i++ ){
temp = DataFlash.ReadInt(); temp = DataFlash.ReadInt();
Serial.printf("%d, ", temp); Serial.printf("%d, ", temp);
} }
// read 13 // read 11
temp = DataFlash.ReadInt(); temp = DataFlash.ReadInt();
Serial.printf("%d\n", temp); Serial.printf("%d\n", temp);
} }
// Write a performance monitoring packet. Total length : 19 bytes // Write a performance monitoring packet. Total length : 9 bytes
static void Log_Write_Performance() static void Log_Write_Performance()
{ {
DataFlash.WriteByte(HEAD_BYTE1); DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2); DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_PERFORMANCE_MSG); DataFlash.WriteByte(LOG_PERFORMANCE_MSG);
DataFlash.WriteByte( dcm.gyro_sat_count); //1
DataFlash.WriteByte( dcm.gyro_sat_count); //2 DataFlash.WriteByte( imu.adc_constraints); //2
DataFlash.WriteByte( imu.adc_constraints); //3 DataFlash.WriteByte( dcm.renorm_sqrt_count); //3
DataFlash.WriteByte( dcm.renorm_sqrt_count); //4 DataFlash.WriteByte( dcm.renorm_blowup_count); //4
DataFlash.WriteByte( dcm.renorm_blowup_count); //5 DataFlash.WriteByte( gps_fix_count); //5
DataFlash.WriteByte( gps_fix_count); //6
DataFlash.WriteByte(END_BYTE); DataFlash.WriteByte(END_BYTE);
} }
@ -641,7 +643,7 @@ static void Log_Read_Performance()
temp5); temp5);
} }
// Write a command processing packet. // Write a command processing packet. Total length : 21 bytes
static void Log_Write_Cmd(byte num, struct Location *wp) static void Log_Write_Cmd(byte num, struct Location *wp)
{ {
DataFlash.WriteByte(HEAD_BYTE1); DataFlash.WriteByte(HEAD_BYTE1);
@ -686,19 +688,19 @@ static void Log_Read_Cmd()
temp8); temp8);
} }
// Write an attitude packet. Total length : 10 bytes // Write an attitude packet. Total length : 16 bytes
static void Log_Write_Attitude() static void Log_Write_Attitude()
{ {
DataFlash.WriteByte(HEAD_BYTE1); DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2); DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_ATTITUDE_MSG); DataFlash.WriteByte(LOG_ATTITUDE_MSG);
DataFlash.WriteInt(g.rc_1.control_in); // 0 DataFlash.WriteInt(g.rc_1.control_in); // 1
DataFlash.WriteInt((int)dcm.roll_sensor); // 1 DataFlash.WriteInt((int)dcm.roll_sensor); // 2
DataFlash.WriteInt(g.rc_2.control_in); // 2 DataFlash.WriteInt(g.rc_2.control_in); // 3
DataFlash.WriteInt((int)dcm.pitch_sensor); // 3 DataFlash.WriteInt((int)dcm.pitch_sensor); // 4
DataFlash.WriteInt(g.rc_4.control_in); // 4 DataFlash.WriteInt(g.rc_4.control_in); // 5
DataFlash.WriteInt((uint16_t)dcm.yaw_sensor); // 5 DataFlash.WriteInt((uint16_t)dcm.yaw_sensor); // 6
DataFlash.WriteByte(END_BYTE); DataFlash.WriteByte(END_BYTE);
} }
@ -714,7 +716,7 @@ static void Log_Read_Attitude()
uint16_t temp6 = DataFlash.ReadInt(); uint16_t temp6 = DataFlash.ReadInt();
// 1 2 3 4 5 6 // 1 2 3 4 5 6
Serial.printf_P(PSTR("ATT, %d, %d, %u, %d, %d, %d\n"), Serial.printf_P(PSTR("ATT, %d, %d, %d, %d, %d, %u\n"),
temp1, temp1,
temp2, temp2,
temp3, temp3,
@ -723,7 +725,7 @@ static void Log_Read_Attitude()
temp6); temp6);
} }
// Write a mode packet. Total length : 5 bytes // Write a mode packet. Total length : 7 bytes
static void Log_Write_Mode(byte mode) static void Log_Write_Mode(byte mode)
{ {
DataFlash.WriteByte(HEAD_BYTE1); DataFlash.WriteByte(HEAD_BYTE1);
@ -742,6 +744,7 @@ static void Log_Read_Mode()
Serial.printf_P(PSTR(", %d\n"),DataFlash.ReadInt()); Serial.printf_P(PSTR(", %d\n"),DataFlash.ReadInt());
} }
// Write Startup packet. Total length : 4 bytes
static void Log_Write_Startup() static void Log_Write_Startup()
{ {
DataFlash.WriteByte(HEAD_BYTE1); DataFlash.WriteByte(HEAD_BYTE1);
@ -750,7 +753,7 @@ static void Log_Write_Startup()
DataFlash.WriteByte(END_BYTE); DataFlash.WriteByte(END_BYTE);
} }
// Read a mode packet // Read a startup packet
static void Log_Read_Startup() static void Log_Read_Startup()
{ {
Serial.printf_P(PSTR("START UP\n")); Serial.printf_P(PSTR("START UP\n"));