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Tracker: Added vehicle position log

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This commit is contained in:
stefanlynka 2016-06-09 15:33:07 +09:00 committed by Randy Mackay
parent d151b4481a
commit f3461d182f
4 changed files with 30 additions and 2 deletions
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28
AntennaTracker/Log.cpp
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@ -42,18 +42,44 @@ void Tracker::Log_Write_Vehicle_Baro(float pressure, float altitude)
time_us : AP_HAL::micros64(), time_us : AP_HAL::micros64(),
press : pressure, press : pressure,
alt_diff : altitude alt_diff : altitude
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); DataFlash.WriteBlock(&pkt, sizeof(pkt));
} }
struct PACKED log_Vehicle_Pos {
LOG_PACKET_HEADER;
uint64_t time_us;
int32_t vehicle_lat;
int32_t vehicle_lng;
int32_t vehicle_alt;
float vehicle_heading;
float vehicle_speed;
};
// Write a vehicle pos packet
void Tracker::Log_Write_Vehicle_Pos(int32_t lat,int32_t lng,int32_t alt,float heading,float ground_speed){
struct log_Vehicle_Pos pkt = {
LOG_PACKET_HEADER_INIT(LOG_V_POS_MSG),
time_us : AP_HAL::micros64(),
vehicle_lat : lat,
vehicle_lng : lng,
vehicle_alt : alt,
vehicle_heading : heading,
vehicle_speed : ground_speed,
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
const struct LogStructure Tracker::log_structure[] = { const struct LogStructure Tracker::log_structure[] = {
LOG_COMMON_STRUCTURES, LOG_COMMON_STRUCTURES,
{LOG_V_BAR_MSG, sizeof(log_Vehicle_Baro), {LOG_V_BAR_MSG, sizeof(log_Vehicle_Baro),
"VBAR", "Qff", "TimeUS,Press,AltDiff" }, "VBAR", "Qff", "TimeUS,Press,AltDiff" },
{LOG_V_POS_MSG, sizeof(log_Vehicle_Pos),
"VPOS", "QLLeff", "TimeUS,Lat,Lng,Alt,Heading,Speed" }
}; };
void Tracker::Log_Write_Vehicle_Startup_Messages() void Tracker::Log_Write_Vehicle_Startup_Messages()
{ {
DataFlash.Log_Write_Mode(control_mode); DataFlash.Log_Write_Mode(control_mode);

1
AntennaTracker/Tracker.h
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@ -255,6 +255,7 @@ private:
void compass_cal_update(); void compass_cal_update();
void Log_Write_Attitude(); void Log_Write_Attitude();
void Log_Write_Baro(void); void Log_Write_Baro(void);
void Log_Write_Vehicle_Pos(int32_t lat,int32_t lng,int32_t alt,float heading,float ground_speed);
void Log_Write_Vehicle_Baro(float pressure, float altitude); void Log_Write_Vehicle_Baro(float pressure, float altitude);
void Log_Write_Vehicle_Startup_Messages(); void Log_Write_Vehicle_Startup_Messages();
void start_logging(); void start_logging();

1
AntennaTracker/defines.h
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@ -35,3 +35,4 @@ enum ServoType {
// Logging messages // Logging messages
#define LOG_V_BAR_MSG 0x04 #define LOG_V_BAR_MSG 0x04
#define LOG_V_POS_MSG 0x05

2
AntennaTracker/tracking.cpp
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@ -131,7 +131,7 @@ void Tracker::tracking_update_position(const mavlink_global_position_int_t &msg)
// log vehicle as GPS2 // log vehicle as GPS2
if (should_log(MASK_LOG_GPS)) { if (should_log(MASK_LOG_GPS)) {
DataFlash.Log_Write_GPS(gps, 1); Log_Write_Vehicle_Pos(vehicle.location.lat, vehicle.location.lng, vehicle.location.alt, vehicle.heading, vehicle.ground_speed);
} }
} }