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Copter: log terrain altitude in CTUN message

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This commit is contained in:
Randy Mackay 2016-04-18 15:15:56 +09:00
parent 25c676c3b4
commit f45c69e7ad
1 changed files with 9 additions and 1 deletions
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10
ArduCopter/Log.cpp
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@ -306,6 +306,7 @@ struct PACKED log_Control_Tuning {
int32_t baro_alt; int32_t baro_alt;
int16_t desired_sonar_alt; int16_t desired_sonar_alt;
int16_t sonar_alt; int16_t sonar_alt;
float terr_alt;
int16_t desired_climb_rate; int16_t desired_climb_rate;
int16_t climb_rate; int16_t climb_rate;
}; };
@ -313,6 +314,12 @@ struct PACKED log_Control_Tuning {
// Write a control tuning packet // Write a control tuning packet
void Copter::Log_Write_Control_Tuning() void Copter::Log_Write_Control_Tuning()
{ {
// get terrain altitude
float terr_alt = 0.0f;
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
terrain.height_above_terrain(terr_alt, true);
#endif
struct log_Control_Tuning pkt = { struct log_Control_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_CONTROL_TUNING_MSG), LOG_PACKET_HEADER_INIT(LOG_CONTROL_TUNING_MSG),
time_us : AP_HAL::micros64(), time_us : AP_HAL::micros64(),
@ -324,6 +331,7 @@ void Copter::Log_Write_Control_Tuning()
baro_alt : baro_alt, baro_alt : baro_alt,
desired_sonar_alt : (int16_t)target_sonar_alt, desired_sonar_alt : (int16_t)target_sonar_alt,
sonar_alt : sonar_alt, sonar_alt : sonar_alt,
terr_alt : terr_alt,
desired_climb_rate : (int16_t)pos_control.get_vel_target_z(), desired_climb_rate : (int16_t)pos_control.get_vel_target_z(),
climb_rate : climb_rate climb_rate : climb_rate
}; };
@ -716,7 +724,7 @@ const struct LogStructure Copter::log_structure[] = {
{ LOG_NAV_TUNING_MSG, sizeof(log_Nav_Tuning), { LOG_NAV_TUNING_MSG, sizeof(log_Nav_Tuning),
"NTUN", "Qffffffffff", "TimeUS,DPosX,DPosY,PosX,PosY,DVelX,DVelY,VelX,VelY,DAccX,DAccY" }, "NTUN", "Qffffffffff", "TimeUS,DPosX,DPosY,PosX,PosY,DVelX,DVelY,VelX,VelY,DAccX,DAccY" },
{ LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning), { LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning),
"CTUN", "Qfffffecchh", "TimeUS,ThrIn,AngBst,ThrOut,DAlt,Alt,BarAlt,DSAlt,SAlt,DCRt,CRt" }, "CTUN", "Qfffffeccfhh", "TimeUS,ThrIn,ABst,ThrOut,DAlt,Alt,BAlt,DSAlt,SAlt,TAlt,DCRt,CRt" },
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance), { LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "QHHIhBHI", "TimeUS,NLon,NLoop,MaxT,PMT,I2CErr,INSErr,LogDrop" }, "PM", "QHHIhBHI", "TimeUS,NLon,NLoop,MaxT,PMT,I2CErr,INSErr,LogDrop" },
{ LOG_MOTBATT_MSG, sizeof(log_MotBatt), { LOG_MOTBATT_MSG, sizeof(log_MotBatt),