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AP_RangeFinder: log signal quality

This commit is contained in:
Willian Galvani 2023-07-27 23:46:02 -03:00 committed by Peter Barker
parent 88dd8130f6
commit fd4da61067
2 changed files with 8 additions and 1 deletions
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4
libraries/AP_Logger/LogStructure.h
View File

@ -467,6 +467,7 @@ struct PACKED log_RFND {
uint16_t dist;
uint8_t status;
uint8_t orient;
int8_t quality;
};
/*
@ -1046,6 +1047,7 @@ struct PACKED log_VER {
// @Field: Stat: Sensor state
// @FieldValueEnum: Stat: RangeFinder::Status
// @Field: Orient: Sensor orientation
// @Field: Quality: Signal quality. -1 means invalid, 0 is no signal, 100 is perfect signal
// @LoggerMessage: RSSI
// @Description: Received Signal Strength Indicator for RC receiver
@ -1239,7 +1241,7 @@ LOG_STRUCTURE_FROM_MOUNT \
{ LOG_MODE_MSG, sizeof(log_Mode), \
"MODE", "QMBB", "TimeUS,Mode,ModeNum,Rsn", "s---", "F---" }, \
{ LOG_RFND_MSG, sizeof(log_RFND), \
"RFND", "QBCBB", "TimeUS,Instance,Dist,Stat,Orient", "s#m--", "F-B--", true }, \
"RFND", "QBCBBb", "TimeUS,Instance,Dist,Stat,Orient,Quality", "s#m--%", "F-B---", true }, \
{ LOG_MAV_STATS, sizeof(log_MAV_Stats), \
"DMS", "QIIIIBBBBBBBBB", "TimeUS,N,Dp,RT,RS,Fa,Fmn,Fmx,Pa,Pmn,Pmx,Sa,Smn,Smx", "s-------------", "F-------------" }, \
LOG_STRUCTURE_FROM_BEACON \

5
libraries/AP_RangeFinder/AP_RangeFinder.cpp
View File

@ -768,6 +768,10 @@ void RangeFinder::Log_RFND() const
continue;
}
int8_t signal_quality;
if (!s->get_signal_quality_pct(signal_quality)) {
signal_quality = -1;
}
const struct log_RFND pkt = {
LOG_PACKET_HEADER_INIT(LOG_RFND_MSG),
time_us : AP_HAL::micros64(),
@ -775,6 +779,7 @@ void RangeFinder::Log_RFND() const
dist : s->distance_cm(),
status : (uint8_t)s->status(),
orient : s->orientation(),
quality : signal_quality,
};
AP::logger().WriteBlock(&pkt, sizeof(pkt));
}