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Plane: Log navigation target location

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Closes #4358
This commit is contained in:
Michael du Breuil 2018-05-25 00:53:23 -07:00 committed by Andrew Tridgell
parent b225868711
commit fae8d1e489
1 changed files with 8 additions and 2 deletions
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10
ArduPlane/Log.cpp
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@ -116,6 +116,9 @@ struct PACKED log_Nav_Tuning {
float xtrack_error; float xtrack_error;
float xtrack_error_i; float xtrack_error_i;
float airspeed_error; float airspeed_error;
int32_t target_lat;
int32_t target_lng;
int32_t target_alt;
}; };
// Write a navigation tuning packet // Write a navigation tuning packet
@ -130,7 +133,10 @@ void Plane::Log_Write_Nav_Tuning()
altitude_error_cm : (int16_t)altitude_error_cm, altitude_error_cm : (int16_t)altitude_error_cm,
xtrack_error : nav_controller->crosstrack_error(), xtrack_error : nav_controller->crosstrack_error(),
xtrack_error_i : nav_controller->crosstrack_error_integrator(), xtrack_error_i : nav_controller->crosstrack_error_integrator(),
airspeed_error : airspeed_error airspeed_error : airspeed_error,
target_lat : next_WP_loc.lat,
target_lng : next_WP_loc.lng,
target_alt : next_WP_loc.alt,
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); DataFlash.WriteBlock(&pkt, sizeof(pkt));
} }
@ -292,7 +298,7 @@ const struct LogStructure Plane::log_structure[] = {
{ LOG_CTUN_MSG, sizeof(log_Control_Tuning), { LOG_CTUN_MSG, sizeof(log_Control_Tuning),
"CTUN", "Qcccchhhf", "TimeUS,NavRoll,Roll,NavPitch,Pitch,ThrOut,RdrOut,ThrDem,Aspd", "sdddd---n", "FBBBB---0" }, "CTUN", "Qcccchhhf", "TimeUS,NavRoll,Roll,NavPitch,Pitch,ThrOut,RdrOut,ThrDem,Aspd", "sdddd---n", "FBBBB---0" },
{ LOG_NTUN_MSG, sizeof(log_Nav_Tuning), { LOG_NTUN_MSG, sizeof(log_Nav_Tuning),
"NTUN", "Qfcccfff", "TimeUS,WpDist,TargBrg,NavBrg,AltErr,XT,XTi,ArspdErr", "smddmmmn", "F0BBB0B0" }, "NTUN", "QfcccfffLLi", "TimeUS,WpDist,TBrg,NavBrg,AltErr,XT,XTi,ArspdErr,TLat,TLng,TAlt", "smddmmmnDUm", "F0BBB0B0GGB" },
{ LOG_SONAR_MSG, sizeof(log_Sonar), { LOG_SONAR_MSG, sizeof(log_Sonar),
"SONR", "QffBf", "TimeUS,Dist,Volt,Cnt,Corr", "smv--", "FB0--" }, "SONR", "QffBf", "TimeUS,Dist,Volt,Cnt,Corr", "smv--", "FB0--" },
{ LOG_ARM_DISARM_MSG, sizeof(log_Arm_Disarm), { LOG_ARM_DISARM_MSG, sizeof(log_Arm_Disarm),