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DataFlash: added baro dataflash logging

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This commit is contained in:
Andrew Tridgell 2014-01-28 10:35:18 +11:00
parent 9f683e6b9b
commit fc3ed61e67
2 changed files with 27 additions and 1 deletions
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15
libraries/DataFlash/DataFlash.h
View File

@ -10,6 +10,7 @@
#include <AP_Param.h>
#include <AP_GPS.h>
#include <AP_InertialSensor.h>
#include <AP_Baro.h>
#include <stdint.h>
class DataFlash_Class
@ -49,6 +50,7 @@ public:
void Log_Write_IMU(const AP_InertialSensor &ins);
void Log_Write_RCIN(void);
void Log_Write_RCOUT(void);
void Log_Write_Baro(AP_Baro &baro);
void Log_Write_Message(const char *message);
void Log_Write_Message_P(const prog_char_t *message);
@ -201,6 +203,14 @@ struct PACKED log_RCOUT {
uint16_t chan8;
};
struct PACKED log_BARO {
LOG_PACKET_HEADER;
uint32_t timestamp;
float altitude;
float pressure;
int16_t temperature;
};
#define LOG_COMMON_STRUCTURES \
{ LOG_FORMAT_MSG, sizeof(log_Format), \
"FMT", "BBnNZ", "Type,Length,Name,Format" }, \
@ -217,7 +227,9 @@ struct PACKED log_RCOUT {
{ LOG_RCIN_MSG, sizeof(log_RCIN), \
"RCIN", "Ihhhhhhhh", "TimeMS,Chan1,Chan2,Chan3,Chan4,Chan5,Chan6,Chan7,Chan8" }, \
{ LOG_RCOUT_MSG, sizeof(log_RCOUT), \
"RCOU", "Ihhhhhhhh", "TimeMS,Chan1,Chan2,Chan3,Chan4,Chan5,Chan6,Chan7,Chan8" }
"RCOU", "Ihhhhhhhh", "TimeMS,Chan1,Chan2,Chan3,Chan4,Chan5,Chan6,Chan7,Chan8" }, \
{ LOG_BARO_MSG, sizeof(log_BARO), \
"BARO", "Iffc", "TimeMS,Alt,Press,Temp" }
// message types for common messages
#define LOG_FORMAT_MSG 128
@ -228,6 +240,7 @@ struct PACKED log_RCOUT {
#define LOG_RCIN_MSG 133
#define LOG_RCOUT_MSG 134
#define LOG_IMU2_MSG 135
#define LOG_BARO_MSG 136
#include "DataFlash_Block.h"
#include "DataFlash_File.h"

13
libraries/DataFlash/LogFile.cpp
View File

@ -5,6 +5,7 @@
#include <stdlib.h>
#include <AP_Param.h>
#include <AP_Math.h>
#include <AP_Baro.h>
extern const AP_HAL::HAL& hal;
@ -707,6 +708,18 @@ void DataFlash_Class::Log_Write_RCOUT(void)
WriteBlock(&pkt, sizeof(pkt));
}
// Write a BARO packet
void DataFlash_Class::Log_Write_Baro(AP_Baro &baro)
{
struct log_BARO pkt = {
LOG_PACKET_HEADER_INIT(LOG_BARO_MSG),
timestamp : hal.scheduler->millis(),
altitude : baro.get_altitude(),
pressure : baro.get_pressure(),
temperature : (int16_t)(baro.get_temperature() * 100),
};
WriteBlock(&pkt, sizeof(pkt));
}
// Write an raw accel/gyro data packet
void DataFlash_Class::Log_Write_IMU(const AP_InertialSensor &ins)