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Rover: update NTUN logging

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reorder to allow easier comparing of adjacent fields
remove absolutes
rename fields
This commit is contained in:
Randy Mackay 2018-06-16 10:26:20 +09:00
parent 8e9586878d
commit f3fe1e3fa5
1 changed files with 7 additions and 7 deletions
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12
APMrover2/Log.cpp
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@ -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;
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<uint16_t>(ahrs.yaw_sensor),
wp_distance : control_mode->get_distance_to_destination(),
target_bearing_cd : static_cast<uint16_t>(abs(nav_controller->target_bearing_cd())),
nav_bearing_cd : static_cast<uint16_t>(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),