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DataFlash: support SafeRTL log messages

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This commit is contained in:
squilter 2017-07-26 13:09:33 -04:00 committed by Randy Mackay
parent d61705ee51
commit f37d742160
3 changed files with 33 additions and 2 deletions
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1
libraries/DataFlash/DataFlash.h
View File

@ -146,6 +146,7 @@ public:
void Log_Write_AOA_SSA(AP_AHRS &ahrs); void Log_Write_AOA_SSA(AP_AHRS &ahrs);
void Log_Write_Beacon(AP_Beacon &beacon); void Log_Write_Beacon(AP_Beacon &beacon);
void Log_Write_Proximity(AP_Proximity &proximity); void Log_Write_Proximity(AP_Proximity &proximity);
void Log_Write_SRTL(bool active, uint16_t num_points, uint16_t max_points, uint8_t action, const Vector3f& point);
void Log_Write(const char *name, const char *labels, const char *fmt, ...); void Log_Write(const char *name, const char *labels, const char *fmt, ...);

16
libraries/DataFlash/LogFile.cpp
View File

@ -1967,3 +1967,19 @@ void DataFlash_Class::Log_Write_Proximity(AP_Proximity &proximity)
}; };
WriteBlock(&pkt_proximity, sizeof(pkt_proximity)); WriteBlock(&pkt_proximity, sizeof(pkt_proximity));
} }
void DataFlash_Class::Log_Write_SRTL(bool active, uint16_t num_points, uint16_t max_points, uint8_t action, const Vector3f& breadcrumb)
{
struct log_SRTL pkt_srtl = {
LOG_PACKET_HEADER_INIT(LOG_SRTL_MSG),
time_us : AP_HAL::micros64(),
active : active,
num_points : num_points,
max_points : max_points,
action : action,
N : breadcrumb.x,
E : breadcrumb.y,
D : breadcrumb.z
};
WriteBlock(&pkt_srtl, sizeof(pkt_srtl));
}

18
libraries/DataFlash/LogStructure.h
View File

@ -885,6 +885,18 @@ struct PACKED log_Proximity {
float closest_dist; float closest_dist;
}; };
struct PACKED log_SRTL {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t active;
uint16_t num_points;
uint16_t max_points;
uint8_t action;
float N;
float E;
float D;
};
// #endif // SBP_HW_LOGGING // #endif // SBP_HW_LOGGING
#define ACC_LABELS "TimeUS,SampleUS,AccX,AccY,AccZ" #define ACC_LABELS "TimeUS,SampleUS,AccX,AccY,AccZ"
@ -1014,7 +1026,9 @@ Format characters in the format string for binary log messages
{ LOG_BEACON_MSG, sizeof(log_Beacon), \ { LOG_BEACON_MSG, sizeof(log_Beacon), \
"BCN", "QBBfffffff", "TimeUS,Health,Cnt,D0,D1,D2,D3,PosX,PosY,PosZ" }, \ "BCN", "QBBfffffff", "TimeUS,Health,Cnt,D0,D1,D2,D3,PosX,PosY,PosZ" }, \
{ LOG_PROXIMITY_MSG, sizeof(log_Proximity), \ { LOG_PROXIMITY_MSG, sizeof(log_Proximity), \
"PRX", "QBfffffffffff", "TimeUS,Health,D0,D45,D90,D135,D180,D225,D270,D315,DUp,CAn,CDis" } "PRX", "QBfffffffffff", "TimeUS,Health,D0,D45,D90,D135,D180,D225,D270,D315,DUp,CAn,CDis" }, \
{ LOG_SRTL_MSG, sizeof(log_SRTL), \
"SRTL", "QBHHBfff", "TimeUS,Active,NumPts,MaxPts,Action,N,E,D" }
// messages for more advanced boards // messages for more advanced boards
#define LOG_EXTRA_STRUCTURES \ #define LOG_EXTRA_STRUCTURES \
@ -1310,7 +1324,7 @@ enum LogMessages {
LOG_BEACON_MSG, LOG_BEACON_MSG,
LOG_PROXIMITY_MSG, LOG_PROXIMITY_MSG,
LOG_DF_FILE_STATS, LOG_DF_FILE_STATS,
LOG_SRTL_MSG,
}; };
enum LogOriginType { enum LogOriginType {