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323 Commits

Author SHA1 Message Date
Andrew Tridgell ce561ab249 AP_Logger: log active EKF type as ATT.AEKF 2021-01-05 21:13:12 +11:00
Peter Hall b2e1d88da8 AP_Logger: add limit flag to PID logs 2021-01-05 10:27:28 +11:00
Josh Henderson 4a7f663cad AP_Logger: README add multiplier descriptions 
Add clarity to the multipliers and descriptions
 2021-01-04 20:45:38 +11:00
Andy Piper 779c2a9e5f AP_Logger: move logger IO to a separate thread 2021-01-02 22:30:08 +11:00
Andrew Tridgell 0ae9b28198 AP_Logger: added get_log_start_count() 
used by UAVCAN to know if it should log CAN devices on log rotation
 2021-01-01 17:30:14 +11:00
Andrew Tridgell 4fdf315760 AP_Logger: use null terminated strings 
this prevents logging garbage for strings that are shorter than the
length specifier (eg. 'Z'). This assumes we will not want to log
binary data as strings
 2021-01-01 17:30:14 +11:00
Andy Piper 5436784d38 AP_Logger: add ESC error rate 2020-12-30 19:14:16 +11:00
Andy Piper 048deeb43e AP_Logger: check is_system_initialized() when determining liveness 2020-12-30 18:16:59 +11:00
Peter Barker f84cb66bc6 AP_Logger: move log ids from EKF2 and EKF3 to the 'below 128' section' 2020-12-08 11:30:10 +11:00
Peter Barker 7ba03fe32d AP_Logger: move EKF2 message ids into AP_NavEKF2 2020-12-08 11:30:10 +11:00
Peter Barker 346572c390 AP_Logger: move EKF2 logging structures into EKF2 LogStructure.h 2020-12-08 11:30:10 +11:00
Peter Barker ea36a84b53 AP_Logger: move EK3 log message IDs into AP_NavEKF3 log structure 2020-12-03 19:22:26 +11:00
Peter Barker f2b2998f29 AP_Logger: move EKF3 logging structures into EKF3 LogStructure.h 2020-12-03 19:22:26 +11:00
Peter Barker 64f4b078a6 AP_Logger: remove unused log_EKF* structures 2020-12-03 19:22:26 +11:00
Andy Piper a6436851b4 AP_Logger: account for expected delays and boot time delays in block logger. 2020-11-25 18:17:34 +11:00
Peter Barker 42d9727f49 AP_Logger: correct documentation on ARSP message 2020-11-24 15:33:37 +11:00
Gone4Dirt a2d2e85ba1 AP_Logger: Reinstate Watt unit 2020-11-24 12:54:52 +11:00
Peter Barker 786fd8a2f8 AP_Logger: add and use instance number to ARSP message 2020-11-24 12:19:45 +11:00
Peter Barker d50e4d03f4 AP_Logger: remove time_us parameter to several sensor logging methods 
These were used by the old Replay code to try to provide a frame of
sensor data by correlating the timestamps.  That Replay code has been
removed.
 2020-11-20 16:59:09 +11:00
Peter Barker a12c2a6b87 AP_Logger: use instance numbers for logging GPS data 2020-11-20 09:45:57 +11:00
Peter Barker 58c23e618e AP_Logger: remove unused IMUDT code 
Unused since we've moved to new Replay code
 2020-11-19 08:31:49 +11:00
Andrew Tridgell 6bf7f9e864 AP_Logger: use load_file() 
save a bit of flash
 2020-11-18 09:11:36 +11:00
Andrew Tridgell 019544ceb1 AP_Logger: allow for replay with both EKF enabled 
even when one is disabled in the original log
 2020-11-17 13:45:07 +11:00
Andrew Tridgell 04f60001ff AP_Logger: allow WriteV() to work within Replay 
save formats for lookup by WriteV
 2020-11-16 10:28:43 +11:00
Peter Barker 48385b82dc AP_Logger: use instance number for Mag logging 2020-11-11 19:31:53 +11:00
Peter Barker 12f0e9dd43 AP_Logger: use instance number for Baro logging 2020-11-11 19:31:53 +11:00
Peter Barker 2437cf8a24 AP_Logger: use instance number for IMU logging 2020-11-11 19:31:53 +11:00
Andrew Tridgell 3152da98e1 AP_Logger: skip structure validation in replay 2020-11-10 16:15:45 +11:00
Andrew Tridgell a08a1a4247 AP_Logger: allow for larger LOG_FILE_BUFSIZE 
larger sizes on F7 and H7 allow for much more rapid loggging
 2020-11-10 16:15:45 +11:00
Andrew Tridgell 71e4d72fe3 AP_Logger: removed 64k limitation on log buffer 
the reason for the limit is gone with AP_FileSystem
 2020-11-10 16:15:45 +11:00
Andrew Tridgell 2945de4796 AP_Logger: use WITH_SEMAPHORE in _WritePrioritisedBlock 
this prevents a 1ms delay when waiting for the semaphore
 2020-11-10 16:15:45 +11:00
Andrew Tridgell 851cb30e0d AP_Logger: speed up startup with replay if LOG_DISARMED=0 2020-11-10 16:15:45 +11:00
Andrew Tridgell b7d60b1d97 AP_Logger: added C field to EKF msgs 2020-11-10 16:15:45 +11:00
Andrew Tridgell 09aff03edc AP_Logger: support new replay system 
added allow_start_ekf and block write method for replay

Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell daa0abeb13 AP_Logger: make structure check errors clearer 
add message name to more error messages
 2020-11-10 16:15:45 +11:00
Andrew Tridgell bd7ed003c2 AP_Logger: split out EKF messages and prepare for new replay 
adds core to more EKF message structures

Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Michael du Breuil 25ca2a0828 AP_Logger: Reserve space in PM for last internal error line 2020-11-03 11:04:13 +11:00
Andrew Tridgell 66596dcf25 AP_Logger: allow for retry of log open with LOG_DISARMED=1 
if booting without a microSD and with LOG_DISARMED=1 then this allows
for a retry of opening the log every 5s
 2020-10-27 20:35:56 +11:00
Patrick José Pereira 258083a6f2 AP_Logger: AP_Logger_File: Set custom log directory in init 
`_log_directory` was used before `ensure_log_directory_exists`,
to fetch the log path

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-10-20 09:31:49 +11:00
Michael du Breuil b04844ca13 AP_Logger: Log all vibration instances 2020-10-06 14:20:49 +11:00
Randy Mackay d9b90bf19f AP_Logger: VISP and VISV get ignored field 2020-10-06 09:18:04 +09:00
Peter Barker 8e6cde25dc AP_Logger: keep pointer to link rather than using its ->chan 2020-09-25 09:01:00 +10:00
Andy Piper dc0084a2b2 AP_Logger: only write final log out a page at a time to avoid lock contention 
remove health check timing hack
 2020-09-21 20:44:34 +10:00
Mark Whitehorn f25a1e7a0d AP_Logger: fix description of BAT.Res 2020-09-21 08:50:49 +10:00
Andy Piper d036b57de3 AP_Logger: stop logs safely in the block logger and asynchronously where possible 2020-09-17 10:45:57 +10:00
Andrew Tridgell 930726ca9a AP_Logger: fixed string warnings 2020-09-15 09:40:03 +10:00
Andy Piper 3bbac765f0 AP_Logger: correct units on raw accel data 2020-09-13 12:15:33 +10:00
Randy Mackay 36dee8791a AP_Logger: revert adding PSCP log structure 2020-09-12 08:10:33 +09:00
Iampete1 9753a20404 AP_Logger: add PSCP log structure 2020-09-11 10:12:08 +10:00
Iampete1 02c225ee93 AP_Logger: add structure for PSC message 2020-09-11 10:12:08 +10:00
Andrew Tridgell bea9769b82 AP_Logger: log unhealthy barometers 2020-09-09 06:35:50 +10:00
Andy Piper 5c554221c7 AP_Logger: address review commenst from #14299 2020-09-06 09:12:59 +10:00
Andy Piper ccb583d092 AP_Logger: make block logger conform to mavlink expectations of numbering 
add support for log time to block logger
refactor rotation into backed. Don't start logs when erasing
correct log start logic
separate read and write points so that requesting log information does not corrupt the current log
when starting a new log stop logging first
clear the write buffer when starting a new log
insert utc time when requesting info for the current log
stop logging and request formats again when starting a new log
cope with erase happening while we are logging
keep pushing out startup messages even when format messages are done
don't log to the gcs in the io thread
don't start new logs in the io thread
don't validate logs while erasing
flush logs when stopping logging
account for page header when calculating logs sizes
don't return data when asked for more data than in the log
optimize locking and use separate semaphore to mediate ring buffer access
stop logging when the chip is full and send a notification
calculate logs sizes correctly even when they wrap
read log data correctly even when it wraps
add stats support to block logger
reset dropped when starting a new log
fail logging when the chip is full
refactor critical bufferspace checks
increase messagewriter budget to 250us and to 300us for FMT
 2020-09-05 10:20:39 +10:00
Harshit Kumar Sankhla 9588a68e1b AP_Logger: added logging of baro, gps, airspeed to XKFS 
new XKFS message for "XKF Sensor"
 2020-08-27 20:20:51 +10:00
Harshit Kumar Sankhla 775a40e4cc AP_Logger: Add RErr and ErSc fields to NKF3 log 
RErr (Core Relative Errors) and ErSc (Core Error Scores)
 2020-08-27 20:20:51 +10:00
Peter Barker 716e7622be AP_Logger: log RCIN channels 14 and 15 in RCI2 2020-08-25 10:27:00 +10:00
Rishabh ad3a7e4d49 AP_Logger: Update logs based on new BendyRuler type 2020-08-24 08:53:20 +09:00
Randy Mackay f7ec08ff18 AP_Logger: add Write_Winch 2020-08-07 21:55:07 +09:00
Randy Mackay 5d99ce9a84 AP_Logger: remove winch events 2020-08-07 21:55:07 +09:00
Rishabh 251ebf9286 AP_Logger: Log Simple Avoidance 2020-08-05 15:37:04 +09:00
Peter Barker c539698528 AP_Logger: add documentation for GRAW, GRXH and GRXS messages 2020-07-22 12:29:19 +10:00
Mark Whitehorn 2b96b7915b AP_Logger: align PID(RPYAS) description to message names 2020-07-22 09:19:43 +09:00
Peter Barker 721d94a23b AP_Logger: log accumulated power status flags; all flags ever set 2020-07-21 09:12:14 +10:00
Paul Riseborough 0cf70fe961 AP_Logger: Log D gain limit cycle gain scaler 
Used by Plane roll and pitch loops in APM_Control
 2020-07-13 13:47:50 +10:00
Andrew Tridgell f80ca85428 AP_Logger: use strncpy_noterm 2020-07-10 13:32:24 +10:00
Randy Mackay 30bcf4d13b AP_Logger: VISP and VISV reset counter becomes uint8 2020-06-25 15:31:43 +10:00
Rishabh 4fa2c3f5ba AP_Logger: Log if BendyRuler has avoided changing directions 2020-06-24 11:42:20 +09:00
Randy Mackay 912e089c18 AP_Logger: fix BCL voltage scaling 
voltages are in millivolts
 2020-06-24 10:19:15 +09:00
Randy Mackay 82423384bf AP_Logger: BCL msg logs up to 12 battery cell voltages 2020-06-24 10:19:15 +09:00
Peter Barker 0c5d31f40f AP_Logger: ensure log directory exists before opening log 
This will help with starting logs when inserting a fresh SD card which
doesn't have the ardupilot log directory on it
 2020-06-16 12:03:21 +10:00
Peter Barker 66f8359c6b AP_Logger: factor out an ensure_log_directory_exists method 2020-06-16 12:03:21 +10:00
Peter Barker 0e964a4654 AP_Logger: use config error loop rather than abort 
Also add a specific check for the length of the labels field
 2020-06-10 09:02:35 +10:00
chobitsfan 255c685a8a AP_Logger: fix missing unit description in VISP 2020-06-09 13:31:21 +09:00
Randy Mackay 6714aa4e83 AP_Logger: shorten VISP and VISV log field names 2020-06-09 13:31:21 +09:00
chobits 5e5a0d2111 AP_Logger: log ext nav pos err and ang err 2020-06-09 13:31:21 +09:00
Iampete1 fee5b998bf AP_Logger: add min MB free param 2020-06-09 09:23:25 +10:00
Randy Mackay 08f6b2128e AP_Logger: add VISV field descriptions 2020-06-02 08:33:42 +09:00
Randy Mackay 714975662d AP_Logger: VISP message gets velocity error field 2020-06-02 08:33:42 +09:00
chobits 9b480ca755 AP_Logger: support VISION_SPEED_ESTIMATE 2020-06-01 17:51:24 +09:00
MisterMower 41245acf14 AP_Logger: Added units to CurrTot message 
Units are not associated with the CurrTot message. AP_BattMonitor.h indicates the total current consumed is reported in mAh. This change sets the units for CurrTot to Ampere seconds and applies a multiplier of 3.6 to convert the reported mAh value to Ampere seconds.
 2020-05-26 16:19:14 +10:00
Peter Barker 1d9c2b1726 AP_Logger: add documentation for SBPH and SBRH 2020-05-26 14:13:06 +10:00
Peter Barker 49918d070e AP_Logger: add documentation for ESC LoggerMessage 2020-05-24 13:07:35 +10:00
Peter Barker cc60faa58e AP_Logger: use single message number for all ESCs by using instance # 2020-05-24 13:07:35 +10:00
Andrew Tridgell 97f335396b AP_Scripting: fixed memory leak 2020-05-19 09:09:48 +10:00
Peter Hall 19ba9abc89 AP_Logger: add function and make public for scripting use 2020-05-19 09:09:48 +10:00
Peter Barker 115751833b AP_Logger: process pending rotate on arming 
If the user arms the vehicle during the logging-persist-timeout we
should rotate the log immediately.
 2020-05-15 16:02:09 +10:00
Peter Barker ca4af94833 AP_Logger: prevent potential infinite recursion in log-open codepath 
If anything in start_new_log did logging (for example, by sending a
statustext), we end up infinitely recursing.

With the patch:

diff --git a/libraries/AP_Logger/AP_Logger_File.cpp b/libraries/AP_Logger/AP_Logger_File.cpp
index 69b8ef0431..eb422d10f8 100644
--- a/libraries/AP_Logger/AP_Logger_File.cpp
+++ b/libraries/AP_Logger/AP_Logger_File.cpp
@@ -778,6 +778,7 @@ void AP_Logger_File::PrepForArming()
  */
 void AP_Logger_File::start_new_log(void)
 {
+    gcs().send_text(MAV_SEVERITY_WARNING, "Starting new log");
     stop_logging();

     start_new_log_reset_variables();
pbarker@bluebottle:~/rc/ardupilot(master)$

We see:

    at ../../libraries/AP_Logger/AP_Logger_File.cpp:781
    this=0x555555ad9d30, pBuffer=0x7fffff8209d0, size=75, is_critical=true)
    at ../../libraries/AP_Logger/AP_Logger_Backend.cpp:372
    this=0x555555ad9d30, pBuffer=0x7fffff8209d0, size=75)
    at ../../libraries/AP_Logger/AP_Logger_Backend.h:32
    this=0x555555ad9d30, message=0x7fffff820b10 "Starting new log")
    at ../../libraries/AP_Logger/LogFile.cpp:466
    this=0x555555a6d758 <copter+11384>,
    message=0x7fffff820b10 "Starting new log")
    at ../../libraries/AP_Logger/AP_Logger.cpp:752
    this=0x555555a6e708 <copter+15400>, severity=MAV_SEVERITY_WARNING,
    fmt=0x5555557d64d0 "Starting new log", arg_list=0x7fffff820be0,
    dest_bitmask=1 '\001') at ../../libraries/GCS_MAVLink/GCS_Common.cpp:1847
    this=0x555555a6e708 <copter+15400>, severity=MAV_SEVERITY_WARNING,
    fmt=0x5555557d64d0 "Starting new log", arg_list=0x7fffff820be0)
    at ../../libraries/GCS_MAVLink/GCS.cpp:53
    this=0x555555a6e708 <copter+15400>, severity=MAV_SEVERITY_WARNING,
    fmt=0x5555557d64d0 "Starting new log")
    at ../../libraries/GCS_MAVLink/GCS.cpp:60
    at ../../libraries/AP_Logger/AP_Logger_File.cpp:781
    this=0x555555ad9d30, pBuffer=0x7fffff820dc0, size=75, is_critical=true)
    at ../../libraries/AP_Logger/AP_Logger_Backend.cpp:372

I'm not aware of any instances in the code where this will actually
happen - but it could easily sneak in.
 2020-05-11 15:12:36 +10:00
Peter Barker 7befe84f0c AP_Logger: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Peter Barker ad9493caca AP_Logger: use logger Write method for logging Solo gimbal 
Also document the messages
 2020-04-28 09:56:09 +10:00
Peter Barker 830176f2f4 AP_Logger: remove unused SBFE 2020-04-27 16:16:50 +10:00
Peter Barker f882bd0c3e AP_Logger: remove unused UBY1/UBY2 messages 
These appear to have been replaced with instance fields on the UBX1 and
UBX2 messages.

Also mark the Instance field on UBX1, UBX2 as an instance field.
 2020-04-26 11:35:04 +10:00
Peter Barker 7e3c9c209e AP_Logger: document GPSB and GPAB 2020-04-26 09:02:39 +10:00
Peter Barker eee0f028ba AP_Logger: fix examples 
Having a valid AP_Scheduler is now a requirement
 2020-04-23 11:33:41 +09:00
Peter Barker a83c25cfa7 AP_Logger: add documentation for EKF messages 
NKF0, NKF1, NKF2, NKF3, NKF4, NKF5, NKQ

XKF0, XKF1, XKF2, XKF3, XKF4, XKF5, XKFD, XKQ, XKV1, XKV2
 2020-04-21 09:48:43 +10:00
Mark Whitehorn 874c293911 AP_Logger: expand description of GPS.spd 2020-04-18 15:33:43 +10:00
Peter Barker 870159c14f AP_Logger: add times-full to MAV log structure 2020-04-17 22:21:14 +10:00
Peter Barker 908dfa58f3 AP_Logger: remove unused FORMATS stage in DFLogStart messagewriter 2020-04-17 21:42:15 +10:00
Peter Barker 678d6f43c5 AP_Logger: use existing LoggerMessageWriter to log uploaded missions 
Instead of creating a MessageWriter explicitly to log uploaded missions
we fiddle the state of the one stored in the startup message writer.

This has the advantage of being much more likely to log the entire
mission (as the buffer constraint is removed), and with the addition of
a time-remaining check much less likely to cause a timing glitch.
 2020-04-15 16:24:40 +10:00
Peter Barker d8582d864a AP_Logger: convert Solo gimbal messages to TimeUS from TimeMS 
Also remove unused gimbal3 message entirely
 2020-04-15 16:11:04 +10:00
Peter Barker acba2a78f6 AP_Logger: add message validation check against duplicate labels 2020-04-14 12:30:58 +10:00