// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- #if LOGGING_ENABLED == ENABLED // Code to Write and Read packets from DataFlash log memory // Code to interact with the user to dump or erase logs // These are function definitions so the Menu can be constructed before the functions // are defined below. Order matters to the compiler. static bool print_log_menu(void); static int8_t dump_log(uint8_t argc, const Menu::arg *argv); static int8_t erase_logs(uint8_t argc, const Menu::arg *argv); static int8_t select_logs(uint8_t argc, const Menu::arg *argv); // Creates a constant array of structs representing menu options // and stores them in Flash memory, not RAM. // User enters the string in the console to call the functions on the right. // See class Menu in AP_Coommon for implementation details const struct Menu::command log_menu_commands[] PROGMEM = { {"dump", dump_log}, {"erase", erase_logs}, {"enable", select_logs}, {"disable", select_logs} }; // A Macro to create the Menu MENU2(log_menu, "Log", log_menu_commands, print_log_menu); static bool print_log_menu(void) { uint16_t log_start; uint16_t log_end; uint16_t temp; uint16_t last_log_num = DataFlash.find_last_log(); uint16_t num_logs = DataFlash.get_num_logs(); cliSerial->printf_P(PSTR("logs enabled: ")); if (0 == g.log_bitmask) { cliSerial->printf_P(PSTR("none")); }else{ if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST) cliSerial->printf_P(PSTR(" ATTITUDE_FAST")); if (g.log_bitmask & MASK_LOG_ATTITUDE_MED) cliSerial->printf_P(PSTR(" ATTITUDE_MED")); if (g.log_bitmask & MASK_LOG_GPS) cliSerial->printf_P(PSTR(" GPS")); if (g.log_bitmask & MASK_LOG_PM) cliSerial->printf_P(PSTR(" PM")); if (g.log_bitmask & MASK_LOG_CTUN) cliSerial->printf_P(PSTR(" CTUN")); if (g.log_bitmask & MASK_LOG_NTUN) cliSerial->printf_P(PSTR(" NTUN")); if (g.log_bitmask & MASK_LOG_IMU) cliSerial->printf_P(PSTR(" IMU")); if (g.log_bitmask & MASK_LOG_CMD) cliSerial->printf_P(PSTR(" CMD")); if (g.log_bitmask & MASK_LOG_CURRENT) cliSerial->printf_P(PSTR(" CURRENT")); if (g.log_bitmask & MASK_LOG_MOTORS) cliSerial->printf_P(PSTR(" MOTORS")); if (g.log_bitmask & MASK_LOG_OPTFLOW) cliSerial->printf_P(PSTR(" OPTFLOW")); if (g.log_bitmask & MASK_LOG_PID) cliSerial->printf_P(PSTR(" PID")); if (g.log_bitmask & MASK_LOG_COMPASS) cliSerial->printf_P(PSTR(" COMPASS")); if (g.log_bitmask & MASK_LOG_INAV) cliSerial->printf_P(PSTR(" INAV")); if (g.log_bitmask & MASK_LOG_CAMERA) cliSerial->printf_P(PSTR(" CAMERA")); } cliSerial->println(); if (num_logs == 0) { cliSerial->printf_P(PSTR("\nNo logs\n\n")); }else{ cliSerial->printf_P(PSTR("\n%u logs\n"), (unsigned)num_logs); for(int16_t i=num_logs; i>=1; i--) { uint16_t last_log_start = log_start, last_log_end = log_end; temp = last_log_num-i+1; DataFlash.get_log_boundaries(temp, log_start, log_end); cliSerial->printf_P(PSTR("Log %d, start %d, end %d\n"), (int)temp, (int)log_start, (int)log_end); if (last_log_start == log_start && last_log_end == log_end) { // we are printing bogus logs break; } } cliSerial->println(); } return(true); } static int8_t dump_log(uint8_t argc, const Menu::arg *argv) { int16_t dump_log; uint16_t dump_log_start; uint16_t dump_log_end; uint16_t last_log_num; // check that the requested log number can be read dump_log = argv[1].i; last_log_num = DataFlash.find_last_log(); if (dump_log == -2) { DataFlash.DumpPageInfo(cliSerial); return(-1); } else if (dump_log <= 0) { cliSerial->printf_P(PSTR("dumping all\n")); Log_Read(0, 1, 0); return(-1); } else if ((argc != 2) || (dump_log <= (last_log_num - DataFlash.get_num_logs())) || (dump_log > last_log_num)) { cliSerial->printf_P(PSTR("bad log number\n")); return(-1); } DataFlash.get_log_boundaries(dump_log, dump_log_start, dump_log_end); /*cliSerial->printf_P(PSTR("Dumping Log number %d, start %d, end %d\n"), * dump_log, * dump_log_start, * dump_log_end); */ Log_Read((uint8_t)dump_log, dump_log_start, dump_log_end); //cliSerial->printf_P(PSTR("Done\n")); return (0); } static void do_erase_logs(void) { gcs_send_text_P(SEVERITY_LOW, PSTR("Erasing logs\n")); DataFlash.EraseAll(); gcs_send_text_P(SEVERITY_LOW, PSTR("Log erase complete\n")); } static int8_t erase_logs(uint8_t argc, const Menu::arg *argv) { in_mavlink_delay = true; do_erase_logs(); in_mavlink_delay = false; return 0; } static int8_t select_logs(uint8_t argc, const Menu::arg *argv) { uint16_t bits; if (argc != 2) { cliSerial->printf_P(PSTR("missing log type\n")); return(-1); } bits = 0; // Macro to make the following code a bit easier on the eye. // Pass it the capitalised name of the log option, as defined // in defines.h but without the LOG_ prefix. It will check for // that name as the argument to the command, and set the bit in // bits accordingly. // if (!strcasecmp_P(argv[1].str, PSTR("all"))) { bits = ~0; } else { #define TARG(_s) if (!strcasecmp_P(argv[1].str, PSTR(# _s))) bits |= MASK_LOG_ ## _s TARG(ATTITUDE_FAST); TARG(ATTITUDE_MED); TARG(GPS); TARG(PM); TARG(CTUN); TARG(NTUN); TARG(MODE); TARG(IMU); TARG(CMD); TARG(CURRENT); TARG(MOTORS); TARG(OPTFLOW); TARG(PID); TARG(COMPASS); TARG(INAV); TARG(CAMERA); #undef TARG } if (!strcasecmp_P(argv[0].str, PSTR("enable"))) { g.log_bitmask.set_and_save(g.log_bitmask | bits); }else{ g.log_bitmask.set_and_save(g.log_bitmask & ~bits); } return(0); } static int8_t process_logs(uint8_t argc, const Menu::arg *argv) { log_menu.run(); return 0; } // print_latlon - prints an latitude or longitude value held in an int32_t // probably this should be moved to AP_Common void print_latlon(AP_HAL::BetterStream *s, int32_t lat_or_lon) { int32_t dec_portion, frac_portion; int32_t abs_lat_or_lon = labs(lat_or_lon); // extract decimal portion (special handling of negative numbers to ensure we round towards zero) dec_portion = abs_lat_or_lon / T7; // extract fractional portion frac_portion = abs_lat_or_lon - dec_portion*T7; // print output including the minus sign if( lat_or_lon < 0 ) { s->printf_P(PSTR("-")); } s->printf_P(PSTR("%ld.%07ld"),(long)dec_portion,(long)frac_portion); } struct log_GPS { LOG_PACKET_HEADER; uint32_t gps_time; uint8_t num_sats; int32_t latitude; int32_t longitude; int32_t rel_altitude; int32_t altitude; uint32_t ground_speed; int32_t ground_course; }; // Write an GPS packet. Total length : 31 bytes static void Log_Write_GPS() { struct log_GPS pkt = { LOG_PACKET_HEADER_INIT(LOG_GPS_MSG), gps_time : g_gps->time, num_sats : g_gps->num_sats, latitude : g_gps->latitude, longitude : g_gps->longitude, rel_altitude : current_loc.alt, altitude : g_gps->altitude, ground_speed : g_gps->ground_speed, ground_course : g_gps->ground_course }; DataFlash.WriteBlock(&pkt, sizeof(pkt)); } // Read a GPS packet static void Log_Read_GPS() { struct log_GPS pkt; DataFlash.ReadPacket(&pkt, sizeof(pkt)); // need to fix printf formatting cliSerial->printf_P(PSTR("GPS, %lu, %u, "), (unsigned long)pkt.gps_time, (unsigned)pkt.num_sats); print_latlon(cliSerial, pkt.latitude); cliSerial->print_P(PSTR(", ")); print_latlon(cliSerial, pkt.longitude); cliSerial->printf_P(PSTR(", %4.4f, %4.4f, %lu, %ld\n"), pkt.rel_altitude*0.01, pkt.altitude*0.01, (unsigned long)pkt.ground_speed, (long)pkt.ground_course); } struct log_IMU { LOG_PACKET_HEADER; Vector3f gyro; Vector3f accel; }; // Write an imu accel/gyro packet. Total length : 27 bytes static void Log_Write_IMU() { struct log_IMU pkt = { LOG_PACKET_HEADER_INIT(LOG_IMU_MSG), gyro : ins.get_gyro(), accel : ins.get_accel() }; DataFlash.WriteBlock(&pkt, sizeof(pkt)); } // Read a raw accel/gyro packet static void Log_Read_IMU() { struct log_IMU pkt; DataFlash.ReadPacket(&pkt, sizeof(pkt)); // 1 2 3 4 5 6 cliSerial->printf_P(PSTR("IMU, %4.4f, %4.4f, %4.4f, %4.4f, %4.4f, %4.4f\n"), (float)pkt.gyro.x, (float)pkt.gyro.y, (float)pkt.gyro.z, (float)pkt.accel.x, (float)pkt.accel.y, (float)pkt.accel.z); } struct log_Current { LOG_PACKET_HEADER; int16_t throttle_in; uint32_t throttle_integrator; int16_t battery_voltage; int16_t current_amps; int16_t current_total; }; // Write an Current data packet. Total length : 16 bytes static void Log_Write_Current() { struct log_Current pkt = { LOG_PACKET_HEADER_INIT(LOG_CURRENT_MSG), throttle_in : g.rc_3.control_in, throttle_integrator : throttle_integrator, battery_voltage : (int16_t) (battery_voltage1 * 100.0f), current_amps : (int16_t) (current_amps1 * 100.0f), current_total : (int16_t) current_total1 }; DataFlash.WriteBlock(&pkt, sizeof(pkt)); } // Read a Current packet static void Log_Read_Current() { struct log_Current pkt; DataFlash.ReadPacket(&pkt, sizeof(pkt)); // 1 2 3 4 5 cliSerial->printf_P(PSTR("CURRENT, %d, %lu, %4.4f, %4.4f, %d\n"), (int)pkt.throttle_in, (unsigned long)pkt.throttle_integrator, (float)pkt.battery_voltage/100.0f, (float)pkt.current_amps/100.0f, (int)pkt.current_total); } struct log_Motors { LOG_PACKET_HEADER; #if FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME int16_t motor_out[8]; #elif FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME int16_t motor_out[6]; #elif FRAME_CONFIG == HELI_FRAME int16_t motor_out[4]; int16_t ext_gyro_gain; #else // quads & TRI_FRAME int16_t motor_out[4]; #endif }; // Write an Motors packet. Total length : 12 ~ 20 bytes static void Log_Write_Motors() { struct log_Motors pkt = { LOG_PACKET_HEADER_INIT(LOG_MOTORS_MSG), #if FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME motor_out : {motors.motor_out[AP_MOTORS_MOT_1], motors.motor_out[AP_MOTORS_MOT_2], motors.motor_out[AP_MOTORS_MOT_3], motors.motor_out[AP_MOTORS_MOT_4], motors.motor_out[AP_MOTORS_MOT_5], motors.motor_out[AP_MOTORS_MOT_6], motors.motor_out[AP_MOTORS_MOT_7], motors.motor_out[AP_MOTORS_MOT_8]} #elif FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME motor_out : {motors.motor_out[AP_MOTORS_MOT_1], motors.motor_out[AP_MOTORS_MOT_2], motors.motor_out[AP_MOTORS_MOT_3], motors.motor_out[AP_MOTORS_MOT_4], motors.motor_out[AP_MOTORS_MOT_5], motors.motor_out[AP_MOTORS_MOT_6]} #elif FRAME_CONFIG == HELI_FRAME motor_out : {motors.motor_out[AP_MOTORS_MOT_1], motors.motor_out[AP_MOTORS_MOT_2], motors.motor_out[AP_MOTORS_MOT_3], motors.motor_out[AP_MOTORS_MOT_4]}, ext_gyro_gain : motors.ext_gyro_gain #elif FRAME_CONFIG == TRI_FRAME motor_out : {motors.motor_out[AP_MOTORS_MOT_1], motors.motor_out[AP_MOTORS_MOT_2], motors.motor_out[AP_MOTORS_MOT_4], motors.motor_out[g.rc_4.radio_out]} #else // QUAD frame motor_out : {motors.motor_out[AP_MOTORS_MOT_1], motors.motor_out[AP_MOTORS_MOT_2], motors.motor_out[AP_MOTORS_MOT_3], motors.motor_out[AP_MOTORS_MOT_4]} #endif }; DataFlash.WriteBlock(&pkt, sizeof(pkt)); } // Read a Motors packet. static void Log_Read_Motors() { struct log_Motors pkt; DataFlash.ReadPacket(&pkt, sizeof(pkt)); #if FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME // 1 2 3 4 5 6 7 8 cliSerial->printf_P(PSTR("MOT, %d, %d, %d, %d, %d, %d, %d, %d\n"), (int)pkt.motor_out[0], (int)pkt.motor_out[1], (int)pkt.motor_out[2], (int)pkt.motor_out[3], (int)pkt.motor_out[4], (int)pkt.motor_out[5], (int)pkt.motor_out[6], (int)pkt.motor_out[7]); #elif FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME // 1 2 3 4 5 6 cliSerial->printf_P(PSTR("MOT, %d, %d, %d, %d, %d, %d\n"), (int)pkt.motor_out[0], (int)pkt.motor_out[1], (int)pkt.motor_out[2], (int)pkt.motor_out[3], (int)pkt.motor_out[4], (int)pkt.motor_out[5]); #elif FRAME_CONFIG == HELI_FRAME // 1 2 3 4 5 cliSerial->printf_P(PSTR("MOT, %d, %d, %d, %d, %d\n"), (int)pkt.motor_out[0], (int)pkt.motor_out[1], (int)pkt.motor_out[2], (int)pkt.motor_out[3], (int)pkt.ext_gyro_gain); #else // TRI_FRAME or QUAD_FRAME // 1 2 3 4 cliSerial->printf_P(PSTR("MOT, %d, %d, %d, %d\n"), (int)pkt.motor_out[0], (int)pkt.motor_out[1], (int)pkt.motor_out[2], (int)pkt.motor_out[3]); #endif } struct log_Optflow { LOG_PACKET_HEADER; int16_t dx; int16_t dy; uint8_t surface_quality; int16_t x_cm; int16_t y_cm; float latitude; float longitude; int32_t roll; int32_t pitch; }; // Write an optical flow packet. Total length : 30 bytes static void Log_Write_Optflow() { #if OPTFLOW == ENABLED struct log_Optflow pkt = { LOG_PACKET_HEADER_INIT(LOG_OPTFLOW_MSG), dx : optflow.dx, dy : optflow.dx, surface_quality : optflow.surface_quality, x_cm : (int16_t) optflow.x_cm, y_cm : (int16_t) optflow.y_cm, latitude : optflow.vlat, longitude : optflow.vlon, roll : of_roll, pitch : of_pitch }; DataFlash.WriteBlock(&pkt, sizeof(pkt)); #endif // OPTFLOW == ENABLED } // Read an optical flow packet. static void Log_Read_Optflow() { struct log_Optflow pkt; DataFlash.ReadPacket(&pkt, sizeof(pkt)); // 1 2 3 4 5 6 7 8 9 cliSerial->printf_P(PSTR("OF, %d, %d, %d, %d, %d, %4.7f, %4.7f, %ld, %ld\n"), (int)pkt.dx, (int)pkt.dy, (int)pkt.surface_quality, (int)pkt.x_cm, (int)pkt.y_cm, (float)pkt.latitude, (float)pkt.longitude, (long)pkt.roll, (long)pkt.pitch); } struct log_Nav_Tuning { LOG_PACKET_HEADER; uint32_t wp_distance; int16_t wp_bearing; float lat_error; float lon_error; int16_t nav_pitch; int16_t nav_roll; int16_t lat_speed; int16_t lon_speed; }; // Write an Nav Tuning packet. Total length : 24 bytes static void Log_Write_Nav_Tuning() { struct log_Nav_Tuning pkt = { LOG_PACKET_HEADER_INIT(LOG_NAV_TUNING_MSG), wp_distance : wp_distance, wp_bearing : (int16_t) (wp_bearing/100), lat_error : lat_error, lon_error : lon_error, nav_pitch : (int16_t) nav_pitch, nav_roll : (int16_t) nav_roll, lat_speed : (int16_t) inertial_nav.get_latitude_velocity(), lon_speed : (int16_t) inertial_nav.get_longitude_velocity() }; DataFlash.WriteBlock(&pkt, sizeof(pkt)); } // Read a Nav Tuning packet. static void Log_Read_Nav_Tuning() { struct log_Nav_Tuning pkt; DataFlash.ReadPacket(&pkt, sizeof(pkt)); // 1 2 3 4 5 6 7 8 cliSerial->printf_P(PSTR("NTUN, %lu, %d, %.0f, %.0f, %d, %d, %d, %d\n"), (unsigned long)pkt.wp_distance, (int)pkt.wp_bearing, (float)pkt.lat_error, (float)pkt.lon_error, (int)pkt.nav_pitch, (int)pkt.nav_roll, (int)pkt.lat_speed, (int)pkt.lon_speed ); } struct log_Control_Tuning { LOG_PACKET_HEADER; int16_t throttle_in; int16_t sonar_alt; int16_t baro_alt; int16_t next_wp_alt; int16_t nav_throttle; int16_t angle_boost; int16_t climb_rate; int16_t throttle_out; int16_t desired_climb_rate; }; // Write a control tuning packet. Total length : 26 bytes static void Log_Write_Control_Tuning() { struct log_Control_Tuning pkt = { LOG_PACKET_HEADER_INIT(LOG_CONTROL_TUNING_MSG), throttle_in : g.rc_3.control_in, sonar_alt : sonar_alt, baro_alt : (int16_t) baro_alt, next_wp_alt : (int16_t) next_WP.alt, nav_throttle : nav_throttle, angle_boost : angle_boost, climb_rate : climb_rate, throttle_out : g.rc_3.servo_out, desired_climb_rate : desired_climb_rate }; DataFlash.WriteBlock(&pkt, sizeof(pkt)); } // Read an control tuning packet static void Log_Read_Control_Tuning() { struct log_Control_Tuning pkt; DataFlash.ReadPacket(&pkt, sizeof(pkt)); // 1 2 3 4 5 6 7 8 9 cliSerial->printf_P(PSTR("CTUN, %d, %d, %d, %d, %d, %d, %d, %d, %d\n"), (int)pkt.throttle_in, (int)pkt.sonar_alt, (int)pkt.baro_alt, (int)pkt.next_wp_alt, (int)pkt.nav_throttle, (int)pkt.angle_boost, (int)pkt.climb_rate, (int)pkt.throttle_out, (int)pkt.desired_climb_rate ); } struct log_Compass { LOG_PACKET_HEADER; int16_t mag_x; int16_t mag_y; int16_t mag_z; int16_t offset_x; int16_t offset_y; int16_t offset_z; int16_t motor_offset_x; int16_t motor_offset_y; int16_t motor_offset_z; }; // Write a Compass packet. Total length : 15 bytes static void Log_Write_Compass() { Vector3f mag_offsets = compass.get_offsets(); Vector3f mag_motor_offsets = compass.get_motor_offsets(); struct log_Compass pkt = { LOG_PACKET_HEADER_INIT(LOG_COMPASS_MSG), mag_x : compass.mag_x, mag_y : compass.mag_y, mag_z : compass.mag_z, offset_x : (int16_t)mag_offsets.x, offset_y : (int16_t)mag_offsets.y, offset_z : (int16_t)mag_offsets.z, motor_offset_x : (int16_t)mag_motor_offsets.x, motor_offset_y : (int16_t)mag_motor_offsets.y, motor_offset_z : (int16_t)mag_motor_offsets.z }; DataFlash.WriteBlock(&pkt, sizeof(pkt)); } // Read a camera packet static void Log_Read_Compass() { struct log_Compass pkt; DataFlash.ReadPacket(&pkt, sizeof(pkt)); // 1 2 3 4 5 6 7 8 9 cliSerial->printf_P(PSTR("COMPASS, %d, %d, %d, %d, %d, %d, %d, %d, %d\n"), (int)pkt.mag_x, (int)pkt.mag_y, (int)pkt.mag_z, (int)pkt.offset_x, (int)pkt.offset_y, (int)pkt.offset_z, (int)pkt.motor_offset_x, (int)pkt.motor_offset_y, (int)pkt.motor_offset_z); } struct log_Performance { LOG_PACKET_HEADER; uint8_t renorm_count; uint8_t renorm_blowup; uint8_t gps_fix_count; uint16_t num_long_running; uint16_t num_loops; uint32_t max_time; uint8_t end; }; // Write a performance monitoring packet. Total length : 11 bytes static void Log_Write_Performance() { struct log_Performance pkt = { LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG), renorm_count : ahrs.renorm_range_count, renorm_blowup : ahrs.renorm_blowup_count, gps_fix_count : gps_fix_count, num_long_running : perf_info_get_num_long_running(), num_loops : perf_info_get_num_loops(), max_time : perf_info_get_max_time() }; DataFlash.WriteBlock(&pkt, sizeof(pkt)); } // Read a performance packet static void Log_Read_Performance() { struct log_Performance pkt; DataFlash.ReadPacket(&pkt, sizeof(pkt)); // 1 2 3 4 5 6 cliSerial->printf_P(PSTR("PM, %u, %u, %u, %u, %u, %lu\n"), (unsigned)pkt.renorm_count, (unsigned)pkt.renorm_blowup, (unsigned)pkt.gps_fix_count, (unsigned)pkt.num_long_running, (unsigned)pkt.num_loops, (unsigned long)pkt.max_time); } struct log_Cmd { LOG_PACKET_HEADER; uint8_t command_total; uint8_t command_number; uint8_t waypoint_id; uint8_t waypoint_options; uint8_t waypoint_param1; int32_t waypoint_altitude; int32_t waypoint_latitude; int32_t waypoint_longitude; }; // Write a command processing packet. Total length : 21 bytes static void Log_Write_Cmd(uint8_t num, struct Location *wp) { struct log_Cmd pkt = { LOG_PACKET_HEADER_INIT(LOG_CMD_MSG), command_total : g.command_total, command_number : num, waypoint_id : wp->id, waypoint_options : wp->options, waypoint_param1 : wp->p1, waypoint_altitude : wp->alt, waypoint_latitude : wp->lat, waypoint_longitude : wp->lng }; DataFlash.WriteBlock(&pkt, sizeof(pkt)); } // Read a command processing packet static void Log_Read_Cmd() { struct log_Cmd pkt; DataFlash.ReadPacket(&pkt, sizeof(pkt)); // 1 2 3 4 5 6 7 8 cliSerial->printf_P(PSTR( "CMD, %u, %u, %u, %u, %u, %ld, %ld, %ld\n"), (unsigned)pkt.command_total, (unsigned)pkt.command_number, (unsigned)pkt.waypoint_id, (unsigned)pkt.waypoint_options, (unsigned)pkt.waypoint_param1, (long)pkt.waypoint_altitude, (long)pkt.waypoint_latitude, (long)pkt.waypoint_longitude); } struct log_Attitude { LOG_PACKET_HEADER; int16_t roll_in; int16_t roll; int16_t pitch_in; int16_t pitch; int16_t yaw_in; uint16_t yaw; uint16_t nav_yaw; }; // Write an attitude packet. Total length : 16 bytes static void Log_Write_Attitude() { struct log_Attitude pkt = { LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG), roll_in : (int16_t)control_roll, roll : (int16_t)ahrs.roll_sensor, pitch_in : (int16_t)control_pitch, pitch : (int16_t)ahrs.pitch_sensor, yaw_in : (int16_t)g.rc_4.control_in, yaw : (uint16_t)ahrs.yaw_sensor, nav_yaw : (uint16_t)nav_yaw }; DataFlash.WriteBlock(&pkt, sizeof(pkt)); } // Read an attitude packet static void Log_Read_Attitude() { struct log_Attitude pkt; DataFlash.ReadPacket(&pkt, sizeof(pkt)); // 1 2 3 4 5 6 7 cliSerial->printf_P(PSTR("ATT, %d, %d, %d, %d, %d, %u, %u\n"), (int)pkt.roll_in, (int)pkt.roll, (int)pkt.pitch_in, (int)pkt.pitch, (int)pkt.yaw_in, (unsigned)pkt.yaw, (unsigned)pkt.nav_yaw); } struct log_INAV { LOG_PACKET_HEADER; int16_t baro_alt; int16_t inav_alt; int16_t inav_climb_rate; float accel_corr_x; float accel_corr_y; float accel_corr_z; float accel_corr_ef_z; int32_t gps_lat_from_home; int32_t gps_lon_from_home; float inav_lat_from_home; float inav_lon_from_home; float inav_lat_speed; float inav_lon_speed; }; // Write an INAV packet. Total length : 52 Bytes static void Log_Write_INAV() { Vector3f accel_corr = inertial_nav.accel_correction_ef; struct log_INAV pkt = { LOG_PACKET_HEADER_INIT(LOG_INAV_MSG), baro_alt : (int16_t)baro_alt, // 1 barometer altitude inav_alt : (int16_t)inertial_nav.get_altitude(), // 2 accel + baro filtered altitude inav_climb_rate : (int16_t)inertial_nav.get_velocity_z(), // 3 accel + baro based climb rate accel_corr_x : accel_corr.x, // 4 accel correction x-axis accel_corr_y : accel_corr.y, // 5 accel correction y-axis accel_corr_z : accel_corr.z, // 6 accel correction z-axis accel_corr_ef_z : inertial_nav.accel_correction_ef.z, // 7 accel correction earth frame gps_lat_from_home : g_gps->latitude-home.lat, // 8 lat from home gps_lon_from_home : g_gps->longitude-home.lng, // 9 lon from home inav_lat_from_home : inertial_nav.get_latitude_diff(), // 10 accel based lat from home inav_lon_from_home : inertial_nav.get_longitude_diff(), // 11 accel based lon from home inav_lat_speed : inertial_nav.get_latitude_velocity(), // 12 accel based lat velocity inav_lon_speed : inertial_nav.get_longitude_velocity() // 13 accel based lon velocity }; DataFlash.WriteBlock(&pkt, sizeof(pkt)); } // Read an INAV packet static void Log_Read_INAV() { struct log_INAV pkt; DataFlash.ReadPacket(&pkt, sizeof(pkt)); // 1 2 3 4 5 6 7 8 9 10 11 12 13 cliSerial->printf_P(PSTR("INAV, %d, %d, %d, %6.4f, %6.4f, %6.4f, %6.4f, %ld, %ld, %6.4f, %6.4f, %6.4f, %6.4f\n"), (int)pkt.baro_alt, // 1 barometer altitude (int)pkt.inav_alt, // 2 accel + baro filtered altitude (int)pkt.inav_climb_rate, // 3 accel + baro based climb rate (float)pkt.accel_corr_x, // 4 accel correction x-axis (float)pkt.accel_corr_y, // 5 accel correction y-axis (float)pkt.accel_corr_z, // 6 accel correction z-axis (float)pkt.accel_corr_ef_z, // 7 accel correction earth frame (long)pkt.gps_lat_from_home, // 8 lat from home (long)pkt.gps_lon_from_home, // 9 lon from home (float)pkt.inav_lat_from_home, // 10 accel based lat from home (float)pkt.inav_lon_from_home, // 11 accel based lon from home (float)pkt.inav_lat_speed, // 12 accel based lat velocity (float)pkt.inav_lon_speed); // 13 accel based lon velocity } struct log_Mode { LOG_PACKET_HEADER; uint8_t mode; int16_t throttle_cruise; }; // Write a mode packet. Total length : 7 bytes static void Log_Write_Mode(uint8_t mode) { struct log_Mode pkt = { LOG_PACKET_HEADER_INIT(LOG_MODE_MSG), mode : mode, throttle_cruise : g.throttle_cruise, }; DataFlash.WriteBlock(&pkt, sizeof(pkt)); } // Read a mode packet static void Log_Read_Mode() { struct log_Mode pkt; DataFlash.ReadPacket(&pkt, sizeof(pkt)); cliSerial->printf_P(PSTR("MOD,")); print_flight_mode(pkt.mode); cliSerial->printf_P(PSTR(", %d\n"),(int)pkt.throttle_cruise); } struct log_Startup { LOG_PACKET_HEADER; }; // Write Startup packet. Total length : 4 bytes static void Log_Write_Startup() { struct log_Startup pkt = { LOG_PACKET_HEADER_INIT(LOG_STARTUP_MSG) }; DataFlash.WriteBlock(&pkt, sizeof(pkt)); } // Read a startup packet static void Log_Read_Startup() { struct log_Startup pkt; DataFlash.ReadPacket(&pkt, sizeof(pkt)); cliSerial->printf_P(PSTR("START UP\n")); } struct log_Event { LOG_PACKET_HEADER; uint8_t id; }; // Wrote an event packet static void Log_Write_Event(uint8_t id) { if (g.log_bitmask != 0) { struct log_Event pkt = { LOG_PACKET_HEADER_INIT(LOG_EVENT_MSG), id : id }; DataFlash.WriteBlock(&pkt, sizeof(pkt)); } } // Read an event packet static void Log_Read_Event() { struct log_Event pkt; DataFlash.ReadPacket(&pkt, sizeof(pkt)); cliSerial->printf_P(PSTR("EV, %u\n"), (unsigned)pkt.id); } struct log_Data_Int16t { LOG_PACKET_HEADER; uint8_t id; int16_t data_value; }; // Write an int16_t data packet static void Log_Write_Data(uint8_t id, int16_t value) { if (g.log_bitmask != 0) { struct log_Data_Int16t pkt = { LOG_PACKET_HEADER_INIT(LOG_DATA_INT16_MSG), id : id, data_value : value }; DataFlash.WriteBlock(&pkt, sizeof(pkt)); } } // Read an int16_t data packet static void Log_Read_Int16t() { struct log_Data_Int16t pkt; DataFlash.ReadPacket(&pkt, sizeof(pkt)); cliSerial->printf_P(PSTR("DATA, %u, %d\n"), (unsigned)pkt.id, (int)pkt.data_value); } struct log_Data_UInt16t { LOG_PACKET_HEADER; uint8_t id; uint16_t data_value; }; // Write an uint16_t data packet static void Log_Write_Data(uint8_t id, uint16_t value) { if (g.log_bitmask != 0) { struct log_Data_UInt16t pkt = { LOG_PACKET_HEADER_INIT(LOG_DATA_UINT16_MSG), id : id, data_value : value }; DataFlash.WriteBlock(&pkt, sizeof(pkt)); } } // Read an uint16_t data packet static void Log_Read_UInt16t() { struct log_Data_UInt16t pkt; DataFlash.ReadPacket(&pkt, sizeof(pkt)); cliSerial->printf_P(PSTR("DATA, %u, %u\n"), (unsigned)pkt.id, (unsigned)pkt.data_value); } struct log_Data_Int32t { LOG_PACKET_HEADER; uint8_t id; int32_t data_value; }; // Write an int32_t data packet static void Log_Write_Data(uint8_t id, int32_t value) { if (g.log_bitmask != 0) { struct log_Data_Int32t pkt = { LOG_PACKET_HEADER_INIT(LOG_DATA_INT32_MSG), id : id, data_value : value }; DataFlash.WriteBlock(&pkt, sizeof(pkt)); } } // Read an int32_t data packet static void Log_Read_Int32t() { struct log_Data_Int32t pkt; DataFlash.ReadPacket(&pkt, sizeof(pkt)); cliSerial->printf_P(PSTR("DATA, %u, %ld\n"), (unsigned)pkt.id, (long)pkt.data_value); } struct log_Data_UInt32t { LOG_PACKET_HEADER; uint8_t id; uint32_t data_value; }; // Write a uint32_t data packet static void Log_Write_Data(uint8_t id, uint32_t value) { if (g.log_bitmask != 0) { struct log_Data_UInt32t pkt = { LOG_PACKET_HEADER_INIT(LOG_DATA_UINT32_MSG), id : id, data_value : value }; DataFlash.WriteBlock(&pkt, sizeof(pkt)); } } // Read a uint32_t data packet static void Log_Read_UInt32t() { struct log_Data_UInt32t pkt; DataFlash.ReadPacket(&pkt, sizeof(pkt)); cliSerial->printf_P(PSTR("DATA, %u, %lu\n"), (unsigned)pkt.id, (unsigned long)pkt.data_value); } struct log_Data_Float { LOG_PACKET_HEADER; uint8_t id; float data_value; }; // Write a float data packet static void Log_Write_Data(uint8_t id, float value) { if (g.log_bitmask != 0) { struct log_Data_Float pkt = { LOG_PACKET_HEADER_INIT(LOG_DATA_FLOAT_MSG), id : id, data_value : value }; DataFlash.WriteBlock(&pkt, sizeof(pkt)); } } // Read a float data packet static void Log_Read_Float() { struct log_Data_Float pkt; DataFlash.ReadPacket(&pkt, sizeof(pkt)); cliSerial->printf_P(PSTR("DATA, %u, %1.6f\n"), (unsigned)pkt.id, (float)pkt.data_value); } struct log_PID { LOG_PACKET_HEADER; uint8_t id; int32_t error; int32_t p; int32_t i; int32_t d; int32_t output; float gain; }; // Write an PID packet. Total length : 28 bytes static void Log_Write_PID(uint8_t pid_id, int32_t error, int32_t p, int32_t i, int32_t d, int32_t output, float gain) { struct log_PID pkt = { LOG_PACKET_HEADER_INIT(LOG_PID_MSG), id : pid_id, error : error, p : p, i : i, d : d, output : output, gain : gain }; DataFlash.WriteBlock(&pkt, sizeof(pkt)); } // Read a PID packet static void Log_Read_PID() { struct log_PID pkt; DataFlash.ReadPacket(&pkt, sizeof(pkt)); // 1 2 3 4 5 6 7 cliSerial->printf_P(PSTR("PID-%u, %ld, %ld, %ld, %ld, %ld, %4.4f\n"), (unsigned)pkt.id, (long)pkt.error, (long)pkt.p, (long)pkt.i, (long)pkt.d, (long)pkt.output, (float)pkt.gain); } struct log_DMP { LOG_PACKET_HEADER; int16_t dcm_roll; int16_t dmp_roll; int16_t dcm_pitch; int16_t dmp_pitch; uint16_t dcm_yaw; uint16_t dmp_yaw; }; // Write a DMP attitude packet. Total length : 16 bytes static void Log_Write_DMP() { #if SECONDARY_DMP_ENABLED == ENABLED struct log_DMP pkt = { LOG_PACKET_HEADER_INIT(LOG_DMP_MSG), dcm_roll : (int16_t)ahrs.roll_sensor, dmp_roll : (int16_t)ahrs2.roll_sensor, dcm_pitch : (int16_t)ahrs.pitch_sensor, dmp_pitch : (int16_t)ahrs2.pitch_sensor, dcm_yaw : (uint16_t)ahrs.yaw_sensor, dmp_yaw : (uint16_t)ahrs2.yaw_sensor }; DataFlash.WriteBlock(&pkt, sizeof(pkt)); #endif } // Read a DMP attitude packet static void Log_Read_DMP() { struct log_DMP pkt; DataFlash.ReadPacket(&pkt, sizeof(pkt)); // 1 2 3 4 5 6 cliSerial->printf_P(PSTR("DMP, %d, %d, %d, %d, %u, %u\n"), (int)pkt.dcm_roll, (int)pkt.dmp_roll, (int)pkt.dcm_pitch, (int)pkt.dmp_pitch, (unsigned)pkt.dcm_yaw, (unsigned)pkt.dmp_yaw); } struct log_Camera { LOG_PACKET_HEADER; uint32_t gps_time; int32_t latitude; int32_t longitude; int32_t altitude; int16_t roll; int16_t pitch; uint16_t yaw; }; // Write a Camera packet. Total length : 26 bytes static void Log_Write_Camera() { #if CAMERA == ENABLED struct log_Camera pkt = { LOG_PACKET_HEADER_INIT(LOG_CAMERA_MSG), gps_time : g_gps->time, latitude : current_loc.lat, longitude : current_loc.lng, altitude : current_loc.alt, roll : (int16_t)ahrs.roll_sensor, pitch : (int16_t)ahrs.pitch_sensor, yaw : (uint16_t)ahrs.yaw_sensor }; DataFlash.WriteBlock(&pkt, sizeof(pkt)); #endif } // Read a camera packet static void Log_Read_Camera() { struct log_Camera pkt; DataFlash.ReadPacket(&pkt, sizeof(pkt)); // 1 cliSerial->printf_P(PSTR("CAMERA, %lu, "),(unsigned long)pkt.gps_time); // 1 time print_latlon(cliSerial, pkt.latitude); // 2 lat cliSerial->print_P(PSTR(", ")); print_latlon(cliSerial, pkt.longitude); // 3 lon // 4 5 6 7 cliSerial->printf_P(PSTR(", %ld, %d, %d, %u\n"), (long)pkt.altitude, // 4 altitude (int)pkt.roll, // 5 roll in centidegrees (int)pkt.pitch, // 6 pitch in centidegrees (unsigned)pkt.yaw); // 7 yaw in centidegrees } struct log_Error { LOG_PACKET_HEADER; uint8_t sub_system; uint8_t error_code; }; // Write an error packet. Total length : 5 bytes static void Log_Write_Error(uint8_t sub_system, uint8_t error_code) { struct log_Error pkt = { LOG_PACKET_HEADER_INIT(LOG_ERROR_MSG), sub_system : sub_system, error_code : error_code, }; DataFlash.WriteBlock(&pkt, sizeof(pkt)); } // Read an error packet static void Log_Read_Error() { struct log_Error pkt; DataFlash.ReadPacket(&pkt, sizeof(pkt)); cliSerial->print_P(PSTR("ERR, ")); // print subsystem switch(pkt.sub_system) { case ERROR_SUBSYSTEM_MAIN: cliSerial->print_P(PSTR("MAIN")); break; case ERROR_SUBSYSTEM_RADIO: cliSerial->print_P(PSTR("RADIO")); break; case ERROR_SUBSYSTEM_COMPASS: cliSerial->print_P(PSTR("COM")); break; case ERROR_SUBSYSTEM_OPTFLOW: cliSerial->print_P(PSTR("OF")); break; case ERROR_SUBSYSTEM_FAILSAFE: cliSerial->print_P(PSTR("FS")); break; default: // if undefined print subsytem as a number cliSerial->printf_P(PSTR("%u"),(unsigned)pkt.sub_system); break; } // print error code cliSerial->printf_P(PSTR(", %u\n"),(unsigned)pkt.error_code); } // Read the DataFlash log memory static void Log_Read(uint8_t log_num, int16_t start_page, int16_t end_page) { #ifdef AIRFRAME_NAME cliSerial->printf_P(PSTR((AIRFRAME_NAME))); #endif cliSerial->printf_P(PSTR("\n" THISFIRMWARE "\nFree RAM: %u\n"), (unsigned) memcheck_available_memory()); cliSerial->println_P(PSTR(HAL_BOARD_NAME)); #if CLI_ENABLED == ENABLED setup_show(0, NULL); #endif DataFlash.log_read_process(log_num, start_page, end_page, log_callback); } // read one packet from the dataflash static void log_callback(uint8_t msgid) { switch(msgid) { case LOG_ATTITUDE_MSG: Log_Read_Attitude(); break; case LOG_MODE_MSG: Log_Read_Mode(); break; case LOG_CONTROL_TUNING_MSG: Log_Read_Control_Tuning(); break; case LOG_NAV_TUNING_MSG: Log_Read_Nav_Tuning(); break; case LOG_PERFORMANCE_MSG: Log_Read_Performance(); break; case LOG_IMU_MSG: Log_Read_IMU(); break; case LOG_CMD_MSG: Log_Read_Cmd(); break; case LOG_CURRENT_MSG: Log_Read_Current(); break; case LOG_STARTUP_MSG: Log_Read_Startup(); break; case LOG_MOTORS_MSG: Log_Read_Motors(); break; case LOG_OPTFLOW_MSG: Log_Read_Optflow(); break; case LOG_GPS_MSG: Log_Read_GPS(); break; case LOG_EVENT_MSG: Log_Read_Event(); break; case LOG_PID_MSG: Log_Read_PID(); break; case LOG_COMPASS_MSG: Log_Read_Compass(); break; case LOG_DMP_MSG: Log_Read_DMP(); break; case LOG_INAV_MSG: Log_Read_INAV(); break; case LOG_CAMERA_MSG: Log_Read_Camera(); break; case LOG_ERROR_MSG: Log_Read_Error(); break; case LOG_DATA_INT16_MSG: Log_Read_Int16t(); break; case LOG_DATA_UINT16_MSG: Log_Read_UInt16t(); break; case LOG_DATA_INT32_MSG: Log_Read_Int32t(); break; case LOG_DATA_UINT32_MSG: Log_Read_UInt32t(); break; case LOG_DATA_FLOAT_MSG: Log_Read_Float(); break; } } #else // LOGGING_ENABLED void print_latlon(AP_HAL::BetterStream *s, int32_t lat_or_lon) {} static void Log_Write_Startup() {} static void Log_Write_Cmd(uint8_t num, struct Location *wp) {} static void Log_Write_Mode(uint8_t mode) {} static void Log_Write_IMU() {} static void Log_Write_GPS() {} static void Log_Write_Current() {} static void Log_Write_Compass() {} static void Log_Write_Attitude() {} static void Log_Write_INAV() {} static void Log_Write_Data(uint8_t id, int16_t value){} static void Log_Write_Data(uint8_t id, uint16_t value){} static void Log_Write_Data(uint8_t id, int32_t value){} static void Log_Write_Data(uint8_t id, uint32_t value){} static void Log_Write_Data(uint8_t id, float value){} static void Log_Write_Event(uint8_t id){} static void Log_Write_Optflow() {} static void Log_Write_Nav_Tuning() {} static void Log_Write_Control_Tuning() {} static void Log_Write_Motors() {} static void Log_Write_Performance() {} static void Log_Write_PID(uint8_t pid_id, int32_t error, int32_t p, int32_t i, int32_t d, int32_t output, float gain) {} static void Log_Write_DMP() {} static void Log_Write_Camera() {} static void Log_Write_Error(uint8_t sub_system, uint8_t error_code) {} static int8_t process_logs(uint8_t argc, const Menu::arg *argv) { return 0; } #endif // LOGGING_DISABLED