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Commit Graph

278 Commits

Author SHA1 Message Date
priseborough
d2c89443df DataFlash: add logging for EKF body frame odometry fusion 2017-04-19 11:04:40 +09:00
Michael du Breuil
994790be0b Dataflash: Clamp GPS accuracy values 2017-04-17 11:37:22 +01:00
Andrew Tridgell
e440d22003 DataFlash: log DCM and SITL quaternion too 2017-04-16 14:01:36 +10:00
Andrew Tridgell
732915d417 DataFlash: log quaternions for EKF 
useful for tailsitters
 2017-04-16 14:01:36 +10:00
Peter Barker
2746edfd32 DataFlash: move Init from LogFile.cpp to Dataflash.cpp (NFC) 2017-04-04 20:03:33 +01:00
Andrew Tridgell
6c31a6982b DataFlash: added Log_Write_AttitudeView 2017-03-31 11:30:44 +11:00
Michael du Breuil
16433cbf7a DataFlash: Log the ground temperature used for baro calculations 2017-03-28 11:25:46 +11:00
Randy Mackay
2b43c6aeed DataFlash: log range finder orientation 2017-02-27 15:18:40 +09:00
Michael du Breuil
31f1545223 DataFlash: Update for AHRS NED changes 
Report both origin and home NED altitudes to the log file
 2017-02-13 09:23:14 +11:00
Lucas De Marchi
dd1646aefc DataFlash: remove dangling semicolon 2017-02-12 01:22:35 +00:00
priseborough
a02a84560f DataFlash: log 3-state range beacon estimator states for EKF3 2017-01-27 16:57:42 +09:00
murata
1b2ea27a68 DataFlash: Unify from print or println to printf. 2017-01-27 18:20:22 +11:00
Andrew Tridgell
b00ec26957 DataFlash: Add EKF3 and remove EKF1 2016-12-19 08:07:09 +11:00
priseborough
431a74e0b4 DataFlash: log range beacon fusion data 2016-11-30 17:56:53 +09:00
priseborough
bbdf3982c6 DataFlash: remove Log_Write_EKF 2016-11-30 17:56:52 +09:00
murata
ae927e1775 DataFlash: Adjust the return value to the type of the method. 
DataFlash: Adjust the return value to the type of the method.
 2016-11-22 10:07:16 -08:00
murata
c808ee2f49 Global: To nullptr from NULL. 
RC_Channel: To nullptr from NULL.

AC_Fence: To nullptr from NULL.

AC_Avoidance: To nullptr from NULL.

AC_PrecLand: To nullptr from NULL.

DataFlash: To nullptr from NULL.

SITL: To nullptr from NULL.

GCS_MAVLink: To nullptr from NULL.

DataFlash: To nullptr from NULL.

AP_Compass: To nullptr from NULL.

Global: To nullptr from NULL.

Global: To nullptr from NULL.
 2016-11-02 16:04:47 -02:00
Mathieu OTHACEHE
152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Randy Mackay
9722c3a1c3 DataFlash: fix logging of ekf core 2016-10-13 15:22:59 +09:00
priseborough
a8cd037f56 DataFlash: update to match revised EKF1 and EKF2 interface 
Uses separate horz/vert position interfaces
 2016-07-19 12:16:49 +10:00
priseborough
cc7caa27bc DataFlash: Use a unique struct for EKF2 logging 2016-07-09 15:57:35 +10:00
priseborough
772c719df3 DataFlash: log tracking error for active instance of EKF2 2016-07-09 15:57:35 +10:00
priseborough
00b66ddc07 DataFlash: Log EKF2 output predictor tracking data 2016-07-09 15:57:35 +10:00
Randy Mackay
032e834849 Dataflash: log rally points 2016-07-04 11:17:09 +09:00
Leonard Hall
a5bb3c206e Dataflash: Log rate to degrees 2016-06-24 17:17:16 +09:00
Andrew Tridgell
a06e46a84c DataFlash: log 14 output channels in RCOU 
unfortunately this means we need to shorten the column headers, but at
least this makes us consistent with RCIN
 2016-06-06 15:14:28 +10:00
Tom Pittenger
3ed2fafefa DataFlash: Log new CUR2 entry for battery2 data 2016-06-02 16:59:16 -07:00
Tom Pittenger
43c7b4d518 DataFlash: do not log CURR.Throttle because it's already logged elsewhere 2016-06-02 16:59:07 -07:00
Tom Pittenger
7a397475af DataFlash: log POWR.vcc and Vservo as float in volts instead of int16 mV 2016-06-02 16:59:05 -07:00
Andrew Tridgell
1fd4cbffb2 DataFlash: update for changed AP_Airspeed API 2016-05-24 17:00:56 +10:00
Paul Riseborough
54213ad871 DataFlash: Improve reporting of normalised ekf2 magnetometer innovations 
Report the maximum of the x,y,z axis
 2016-05-21 15:13:52 +10:00
Paul Riseborough
fcee82f9b2 DataFlash: extend ekf fault status reporting coverage 2016-05-21 15:13:51 +10:00
Tom Pittenger
32d51e346d DataFlash: optimize logging climbrate - call function one and reuse result 2016-05-17 18:59:14 -07:00
Tom Pittenger
38b7d7e1c6 DataFlash: log baro drift offset 2016-05-13 17:22:12 -07:00
Tom Pittenger
d900988a23 DataFlash: Log airspeed.Use 2016-05-13 17:22:02 -07:00
Ricardo de Almeida Gonzaga
dc7acdf03f DataFlash: Fix typos 2016-05-13 19:20:05 -03:00
Andrew Tridgell
202eb3af35 DataFlash: added imu_mask to Log_Write_IMUDT 2016-05-09 12:26:30 +10:00
Andrew Tridgell
2f4f38b85f DataFlash: log the last message sample time for GPS 2016-05-07 18:27:23 +10:00
Andrew Tridgell
679b43efc9 DataFlash: make timestamps in EKF messages all match 2016-05-07 18:27:22 +10:00
Andrew Tridgell
35c3adb1ad DataFlash: use caller supplied timestamps for sensor logging 
used to support EK2_LOGGING=1
 2016-05-07 18:27:22 +10:00
Andrew Tridgell
6aa02f06a9 DataFlash: use INS_USE to prevent logging of unused IMUs 2016-05-07 18:27:22 +10:00
Andrew Tridgell
9300092840 DataFlash: changed GPS ground course to float and add VV for GPA 
more accurate replay
 2016-05-07 18:27:21 +10:00
Andrew Tridgell
1bf057be45 DataFlash: log last update time in BARO msg 2016-05-07 18:27:21 +10:00
Andrew Tridgell
d61ba14037 DataFlash: switched to float for GPS ground speed 
same size and more precision
 2016-05-07 18:27:21 +10:00
Andrew Tridgell
d97074dc9d DataFlash: round baro temp to nearest centi-degree 
makes replay logs a tiny bit closer
 2016-05-07 18:27:20 +10:00
Andrew Tridgell
61da827c16 DataFlash: added sample timestamp to mag messages 
allows for exact mag timings in replay
 2016-05-07 18:27:19 +10:00
Andrew Tridgell
7ab1367ec4 DataFlash: removed logging of relative alt in GPS messages 
not related to GPS and makes it impossible to do bit-identical replay
 2016-05-07 18:27:18 +10:00
Andrew Tridgell
46f257fd9b DataFlash: convert Log_Write() to use a linked list 
this saves some memory and means we don't need to know how many we
will need in advance
 2016-05-07 07:21:16 +10:00
Andrew Tridgell
bcefb45e0a DataFlash: added DelaT to delta-angle logs 2016-04-26 15:50:29 +10:00
Jonathan Challinger
a0e291bf89 DataFlash: add reason to MODE 2016-04-14 12:24:04 +09:00
Andrew Tridgell
075dd49afe DataFlash: added Log_Write_Rate() 
needed for quadplane as well as copter so should be in common code
 2016-03-25 12:13:58 +11:00
Will Sackfield
6f43b7121c DataFlash: Cast msg to uint8 
* Clang requires this explicit cast
 2016-02-29 14:14:37 +11:00
Andrew Tridgell
6f59c4ae53 DataFlash: added GPSAlt to CAM and TRIG log messages 
useful for people with RTK GPS
 2016-01-29 10:01:51 +11:00
Jaime Machuca
1001e53140 DataFlash: added TRIGGER message to Logs 
DataFlash.h: added support for Trigger MSG, supressed TAB separations
and file reorganized LogFile.cpp: included Trigger packet
 2016-01-29 09:19:43 +11:00
Lucas De Marchi
5d07e5bdbf DataFlash: stop using Progmem.h 2015-12-27 15:58:12 -02:00
Andrew Tridgell
b967140572 DataFlash: enable minimal file mode 
This adds a "minimal" dataflash mode with a board specific macro. The
QURT port uses this to avoid problematic system calls that are buggy
in the QURT RTOS

With some pending updates to QURT we may be able to remove some (or
all) of this
 2015-12-27 16:21:26 +11:00
Peter Barker
326e68544c DataFlash: remove unused functions 2015-12-10 10:45:51 +09:00
Peter Barker
4f1a7c6427 DataFlash: remove use of AddLogFormats 2015-12-03 13:21:52 +11:00
Peter Barker
0ca07e5245 DataFlash: DataFlash-over-MAVLink support 2015-12-03 13:21:51 +11:00
Peter Barker
faabe0b83d DataFlash: support multiple simultaneous backends 2015-12-03 13:21:51 +11:00
Lucas De Marchi
2591261af6 Global: rename min and max macros to uppercase 
The problem with using min() and max() is that they conflict with some
C++ headers. Name the macros in uppercase instead. We may go case by
case later converting them to be typesafe.

Changes generated with:

	git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)max(/\1MAX(/g'
	git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)min(/\1MIN(/g'
 2015-12-01 16:28:09 -02:00
Caio Marcelo de Oliveira Filho
753956bd77 AP_Dataflash: use millis/micros/panic functions 2015-11-20 12:35:00 +09:00
Paul Riseborough
42b47acdfc DataFlash: Fix logging error for EKF second instance 2015-11-09 22:07:10 +11:00
Paul Riseborough
88cc1e2ffe DataFlash: Publish the EKF2 magnetometer selection index 2015-11-09 22:07:10 +11:00
Paul Riseborough
138315af21 DataFlash: Add logging for second NKF instance 2015-11-08 15:37:28 +11:00
Paul Riseborough
5b1d6f2aa2 DataFlash: accomodate change in EKF2 interface 2015-11-08 15:37:28 +11:00
Paul Riseborough
46e4c45537 DataFlash: Only log EKF messages when enabled 2015-11-08 15:37:27 +11:00
Paul Riseborough
987d261109 DataFlash: Update logging of EKF2 primary core index 
Changes made in response to review comments
 2015-11-08 15:37:27 +11:00
Paul Riseborough
4884b2d38a DataFlash: Log the primary EKF2 index 2015-11-08 15:37:27 +11:00
Lucas De Marchi
c74b1a660d DataFlash: remove DATAFLASH_NO_CLI 
This is not used anymore since the removal of AVR CPUs.
 2015-11-04 12:14:15 +11:00
Lucas De Marchi
0dfeae2556 DataFlash: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:13 +11:00
Lucas De Marchi
d2a259cef0 DataFlash: fix wrong printf format for printf 
"%S" is used for wide string, but we are passing a char*. Use lowercase
in this case to remove warnings like this:

libraries/AP_InertialSensor/AP_InertialSensor.cpp: In member function
'bool AP_InertialSensor::calibrate_accel(AP_InertialSensor_UserInteract*, float&, float&)':
libraries/AP_InertialSensor/AP_InertialSensor.cpp:620:61: warning:
format '%S' expects argument of type 'wchar_t*', but argument 3 has type 'const char*' [-Wformat=]
                 "Place vehicle %S and press any key.\n", msg);
                                                             ^
 2015-10-30 14:35:42 +09:00
Lucas De Marchi
5244559010 Minimize AP_Progmem.h includes 
Most of AP_Progmem is already gone so we can stop including it in most
of the places. The only places that need it are the ones using
pgm_read_*() APIs.

In some cases the header needed to be added in the .cpp since it was
removed from the .h to reduce scope. In those cases the headers were
also reordered.
 2015-10-30 14:35:32 +09:00
Lucas De Marchi
1b07dabeb7 Replace prog_char and prog_char_t with char 
prog_char and prog_char_t are now the same as char on supported
platforms. So, just change all places that use them and prefer char
instead.

AVR-specific places were not changed.
 2015-10-30 14:35:30 +09:00
Lucas De Marchi
b52d1cfabb DataFlash: remove DataFlash.Log_Write_Message_P() 2015-10-30 14:35:29 +09:00
Lucas De Marchi
4ab9821624 Replace use of Log_Write_Message_P() with Log_Write_Message() 2015-10-30 14:35:28 +09:00
Lucas De Marchi
20c6ffc5e3 Replace use of UARTDriver::printf_P() with UARTDriver::printf() 
This also starts to show warnings on places that were already using
wrong printf format strings.
 2015-10-30 14:35:25 +09:00
Lucas De Marchi
6f4904189b Replace use of println_P() with println() 2015-10-30 14:35:22 +09:00
Lucas De Marchi
1336d621be Replace use of strcpy_P() with strcpy() 2015-10-30 14:35:12 +09:00
Lucas De Marchi
2c38e31c93 Remove use of PSTR 
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.

This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.

AVR-specific places were not changed.
 2015-10-30 14:35:04 +09:00
Lucas De Marchi
19b31ccff1 DataFlash: remove check for max compass instances 
For all supported boards the maximum number of instances is 3.
 2015-10-21 10:05:18 +11:00
Lucas De Marchi
d83609b24c DataFlash: remove check for max BARO instances 
For all supported boards we allow more than 1 baro instance.
 2015-10-21 10:05:18 +11:00
Lucas De Marchi
121eeb4b58 DataFlash: remove check for vibe check 
For all supported boards we have vibration check.
 2015-10-21 10:05:17 +11:00
Lucas De Marchi
f99d64e621 DataFlash: remove check for max INS instances 
For all supported boards the maximum number of instances is 3.
 2015-10-21 10:05:17 +11:00
Paul Riseborough
2d44441d6b DataFlash: Make EKF2 PosDownDerivative interface follow coding conventions 
Updates arising from peer review.
 2015-10-20 15:21:37 +11:00
Paul Riseborough
1323db10e8 DataFlash: Make EKF2 PosDownDerivative interface follow coding conventions 
Updates arising from peer review.
 2015-10-20 15:21:37 +11:00
Paul Riseborough
9e3d9d15fc DataFlash: Log vertical position derivative output 2015-10-20 15:21:35 +11:00
Gustavo Jose de Sousa
363f9cf82a DataFlash: use compass get_{field,offsets}() functions 
Both functions are equivalent, so we're going to simply use
get_{field,offsets}() instead of get_{field,offsets}_milligauss().
 2015-10-15 19:56:07 +09:00
Paul Riseborough
a82c8b241f DataFlash: Update NKF4 data logging 
Add roll/pitch error metric
Reduce normalised magnetometer vector with a vector length
 2015-10-10 21:22:57 +09:00
Paul Riseborough
ba6387f206 DataFlash: Add logging of EKF GPS check status 2015-10-10 14:49:03 +09:00
Randy Mackay
e9254ca1a9 DataFlash: log compass as milligauss 2015-10-07 21:35:19 +09:00
Peter Barker
af4ad01f23 DataFlash: make CAM a critical message 2015-10-06 15:20:08 +11:00
Paul Riseborough
80e182f827 AP_NavEKF2: Update EKF2 data logging 2015-09-24 12:58:44 +10:00
Paul Riseborough
86ad1e6e66 DataFlash: Update EKF2 data logging 2015-09-24 12:58:44 +10:00
Andrew Tridgell
ba8e63d8e7 DataFlash: handle unitialised EKF2 in logging 2015-09-23 18:54:46 +10:00
Andrew Tridgell
ce9fa45b3a DataFlash: added logging of EKF2 2015-09-23 12:09:48 +10:00
Andrew Tridgell
eabdee2b3c DataFlash: only log two rangefinders 
this prevents a array index build error on PX4
 2015-09-22 09:24:55 +10:00
Stewart Loving-Gibbard
4dcf6b8dc3 DataFlash: Adding Logging of RSSI data. 2015-09-16 16:41:31 +09:00
Andrew Tridgell
43ac3f86c5 DataFlash: added RNFD logging and 3 baros 2015-09-13 11:29:59 +10:00
Andrew Tridgell
c5cd310818 DataFlash: added GPA and GPA2 messages for GPS accuracy 
this reverts the GPS format to the old format, thus fixing log
analysers
 2015-09-09 14:53:11 +10:00