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ACM : Logging updates

This commit is contained in:
Jason Short 2012-08-28 15:31:02 -07:00
parent 9d64bea2ef
commit fd4bc69d77
1 changed files with 31 additions and 12 deletions
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43
ArduCopter/Log.pde
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@ -152,9 +152,9 @@ dump_log(uint8_t argc, const Menu::arg *argv)
static void do_erase_logs(void)
{
gcs_send_text_P(SEVERITY_LOW, PSTR("Erasing logs"));
gcs_send_text_P(SEVERITY_LOW, PSTR("Erasing logs\n"));
DataFlash.EraseAll(mavlink_delay);
gcs_send_text_P(SEVERITY_LOW, PSTR("Log erase complete"));
gcs_send_text_P(SEVERITY_LOW, PSTR("Log erase complete\n"));
}
static int8_t
@ -359,6 +359,16 @@ static void Log_Write_Raw()
DataFlash.WriteLong(get_int(accel.z));
DataFlash.WriteByte(END_BYTE);
/*
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_RAW_MSG);
DataFlash.WriteLong(get_int(ahrs._omega_I.x));
DataFlash.WriteLong(get_int(ahrs._omega_I.y));
DataFlash.WriteByte(END_BYTE);
*/
}
// Read a raw accel/gyro packet
@ -372,6 +382,15 @@ static void Log_Read_Raw()
Serial.print(", ");
}
Serial.println(" ");
/*
float temp1 = get_float(DataFlash.ReadLong());
float temp2 = get_float(DataFlash.ReadLong());
Serial.printf_P(PSTR("RAW, %4.4f, %4.4f\n"),
temp1,
temp2);
*/
}
#endif
@ -593,16 +612,16 @@ static void Log_Write_Nav_Tuning()
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_NAV_TUNING_MSG);
DataFlash.WriteInt(wp_distance); // 1
DataFlash.WriteInt(target_bearing/100); // 2
DataFlash.WriteInt(long_error); // 3
DataFlash.WriteInt(lat_error); // 4
DataFlash.WriteInt(nav_lon); // 5
DataFlash.WriteInt(nav_lat); // 6
DataFlash.WriteInt(x_actual_speed); // 7
DataFlash.WriteInt(y_actual_speed); // 8
DataFlash.WriteInt(g.pid_nav_lon.get_integrator()); // 9
DataFlash.WriteInt(g.pid_nav_lat.get_integrator()); // 10
DataFlash.WriteInt(wp_distance); // 1
DataFlash.WriteInt(target_bearing/100); // 2
DataFlash.WriteInt(long_error); // 3
DataFlash.WriteInt(lat_error); // 4
DataFlash.WriteInt(nav_pitch); // 5
DataFlash.WriteInt(nav_roll); // 6
DataFlash.WriteInt(x_actual_speed); // 7
DataFlash.WriteInt(y_actual_speed); // 8
DataFlash.WriteInt(g.pid_nav_lon.get_integrator()); // 9
DataFlash.WriteInt(g.pid_nav_lat.get_integrator()); // 10
DataFlash.WriteByte(END_BYTE);
}