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AP_Logger: log which RC channels are being overridden

This commit is contained in:
Peter Barker 2021-05-15 13:45:43 +10:00 committed by Peter Barker
parent 891cc94577
commit f30ad1d2dc
3 changed files with 16 additions and 7 deletions
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2
libraries/AP_Logger/AP_Logger.h
View File

@ -488,7 +488,7 @@ private:
bool _armed;
// state to help us not log unneccesary RCIN values:
bool seen_nonzero_rcin15_or_rcin16;
bool should_log_rcin2;
void Write_Compass_instance(uint64_t time_us, uint8_t mag_instance);

18
libraries/AP_Logger/LogFile.cpp
View File

@ -149,20 +149,28 @@ void AP_Logger::Write_RCIN(void)
};
WriteBlock(&pkt, sizeof(pkt));
const uint16_t override_mask = rc().get_override_mask();
// don't waste logging bandwidth if we haven't seen non-zero
// channels 15/16:
if (!seen_nonzero_rcin15_or_rcin16) {
if (!values[14] && !values[15]) {
return;
if (!should_log_rcin2) {
if (values[14] || values[15]) {
should_log_rcin2 = true;
} else if (override_mask != 0) {
should_log_rcin2 = true;
}
seen_nonzero_rcin15_or_rcin16 = true;
}
if (!should_log_rcin2) {
return;
}
const struct log_RCIN2 pkt2{
LOG_PACKET_HEADER_INIT(LOG_RCIN2_MSG),
time_us : AP_HAL::micros64(),
chan15 : values[14],
chan16 : values[15]
chan16 : values[15],
override_mask : override_mask,
};
WriteBlock(&pkt2, sizeof(pkt2));
}

3
libraries/AP_Logger/LogStructure.h
View File

@ -247,6 +247,7 @@ struct PACKED log_RCIN2 {
uint64_t time_us;
uint16_t chan15;
uint16_t chan16;
uint16_t override_mask;
};
struct PACKED log_RCOUT {
@ -1223,7 +1224,7 @@ LOG_STRUCTURE_FROM_GPS \
{ LOG_RCIN_MSG, sizeof(log_RCIN), \
"RCIN", "QHHHHHHHHHHHHHH", "TimeUS,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14", "sYYYYYYYYYYYYYY", "F--------------" }, \
{ LOG_RCIN2_MSG, sizeof(log_RCIN2), \
"RCI2", "QHH", "TimeUS,C15,C16", "sYY", "F--" }, \
"RCI2", "QHHH", "TimeUS,C15,C16,OMask", "sYY-", "F---" }, \
{ LOG_RCOUT_MSG, sizeof(log_RCOUT), \
"RCOU", "QHHHHHHHHHHHHHH", "TimeUS,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14", "sYYYYYYYYYYYYYY", "F--------------" }, \
{ LOG_RSSI_MSG, sizeof(log_RSSI), \