From f3fe1e3fa55a2dfb206f3cf5b26a0e685ddeac89 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sat, 16 Jun 2018 10:26:20 +0900 Subject: [PATCH] Rover: update NTUN logging reorder to allow easier comparing of adjacent fields remove absolutes rename fields --- APMrover2/Log.cpp | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/APMrover2/Log.cpp b/APMrover2/Log.cpp index 4fffc249d6..9651bca612 100644 --- a/APMrover2/Log.cpp +++ b/APMrover2/Log.cpp @@ -114,10 +114,10 @@ void Rover::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_targ struct PACKED log_Nav_Tuning { LOG_PACKET_HEADER; uint64_t time_us; - uint16_t yaw; - float wp_distance; - uint16_t target_bearing_cd; + float wp_distance; + uint16_t wp_bearing_cd; uint16_t nav_bearing_cd; + uint16_t yaw; float xtrack_error; }; @@ -127,10 +127,10 @@ void Rover::Log_Write_Nav_Tuning() struct log_Nav_Tuning pkt = { LOG_PACKET_HEADER_INIT(LOG_NTUN_MSG), time_us : AP_HAL::micros64(), - yaw : static_cast(ahrs.yaw_sensor), wp_distance : control_mode->get_distance_to_destination(), - target_bearing_cd : static_cast(abs(nav_controller->target_bearing_cd())), - nav_bearing_cd : static_cast(abs(nav_controller->nav_bearing_cd())), + wp_bearing_cd : (uint16_t)wrap_360_cd(nav_controller->target_bearing_cd()), + nav_bearing_cd : (uint16_t)wrap_360_cd(nav_controller->nav_bearing_cd()), + yaw : (uint16_t)ahrs.yaw_sensor, xtrack_error : nav_controller->crosstrack_error() }; DataFlash.WriteBlock(&pkt, sizeof(pkt)); @@ -313,7 +313,7 @@ const LogStructure Rover::log_structure[] = { { LOG_THR_MSG, sizeof(log_Throttle), "THR", "Qhffff", "TimeUS,ThrIn,ThrOut,DesSpeed,Speed,AccY", "s--nno", "F--000" }, { LOG_NTUN_MSG, sizeof(log_Nav_Tuning), - "NTUN", "QHfHHf", "TimeUS,Yaw,WpDist,TargBrg,NavBrg,XT", "sdmddm", "FB0BB0" }, + "NTUN", "QfHHHf", "TimeUS,WpDist,WpBrg,DesYaw,Yaw,XTrack", "smdddm", "F0BBB0" }, { LOG_RANGEFINDER_MSG, sizeof(log_Rangefinder), "RGFD", "QfHHHbHCb", "TimeUS,LatAcc,R1Dist,R2Dist,DCnt,TAng,TTim,Spd,Thr", "somm-hsm-", "F0BB-0CB-" }, { LOG_ARM_DISARM_MSG, sizeof(log_Arm_Disarm),