mirror of https://github.com/ArduPilot/ardupilot
ArduPlane: Log isFlying status
Log is_flying() status and its float probability in new STAT msg and piggyback on MODE bitmask flag.
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@ -1041,6 +1041,10 @@ static void one_second_loop()
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terrain.log_terrain_data(DataFlash);
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}
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#endif
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// piggyback the status log entry on the MODE log entry flag
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if (should_log(MASK_LOG_MODE)) {
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Log_Write_Status();
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}
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}
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static void log_perf_info()
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@ -320,6 +320,25 @@ static void Log_Write_Nav_Tuning()
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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struct PACKED log_Status {
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LOG_PACKET_HEADER;
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uint32_t timestamp;
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uint8_t is_flying;
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float is_flying_probability;
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};
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static void Log_Write_Status()
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{
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struct log_Status pkt = {
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LOG_PACKET_HEADER_INIT(LOG_STATUS_MSG)
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,timestamp : hal.scheduler->millis()
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,is_flying : is_flying()
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,is_flying_probability : isFlyingProbability
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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struct PACKED log_Sonar {
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LOG_PACKET_HEADER;
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uint32_t timestamp;
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@ -450,6 +469,8 @@ static const struct LogStructure log_structure[] PROGMEM = {
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"ARM", "IHB", "TimeMS,ArmState,ArmChecks" },
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{ LOG_ATRP_MSG, sizeof(AP_AutoTune::log_ATRP),
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"ATRP", "IBBcfff", "TimeMS,Type,State,Servo,Demanded,Achieved,P" },
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{ LOG_STATUS_MSG, sizeof(log_Status),
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"STAT", "IBf", "TimeMS,isFlying,isFlyProb" },
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#if OPTFLOW == ENABLED
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{ LOG_OPTFLOW_MSG, sizeof(log_Optflow),
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"OF", "IBffff", "TimeMS,Qual,flowX,flowY,bodyX,bodyY" },
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@ -505,6 +526,7 @@ static void Log_Write_IMU() {}
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static void Log_Write_RC() {}
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static void Log_Write_Airspeed(void) {}
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static void Log_Write_Baro(void) {}
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static void Log_Write_Status() {}
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static void Log_Write_Sonar() {}
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#if OPTFLOW == ENABLED
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static void Log_Write_Optflow() {}
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@ -121,7 +121,8 @@ enum log_messages {
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LOG_COMPASS2_MSG_DEPRECATED,
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LOG_ARM_DISARM_MSG,
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LOG_AIRSPEED_MSG_DEPRECATED, // deprecated
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LOG_COMPASS3_MSG_DEPRECATED
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LOG_COMPASS3_MSG_DEPRECATED,
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LOG_STATUS_MSG
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#if OPTFLOW == ENABLED
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,LOG_OPTFLOW_MSG
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#endif
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