mirror of https://github.com/ArduPilot/ardupilot
76 lines
1.8 KiB
C++
76 lines
1.8 KiB
C++
#pragma once
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// AP_Stats is used to collect and put to permanent storage data about
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// the vehicle's autopilot
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#include <AP_Common/AP_Common.h>
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#include <AP_Param/AP_Param.h>
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class AP_Stats
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{
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public:
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// constructor
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AP_Stats();
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// these variables are periodically written into the actual
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// parameters. If you add a variable here, make sure to update
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// init() to set initial values from the parameters!
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uint32_t flttime; // seconds in flight (or driving)
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uint32_t runtime; // total wallclock time spent running ArduPilot (seconds)
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uint32_t reset; // last time AP_Stats parameters were reset (in seconds since AP_Stats Jan 1st 2016)
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uint32_t flttime_boot; // seconds in flight (or driving), at boot
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void init();
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// copy state into underlying parameters:
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void flush();
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// periodic update function (e.g. put our values to permanent storage):
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// call at least 1Hz
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void update();
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void set_flying(bool b);
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// accessor for is_flying
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bool get_is_flying(void) {
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return _flying_ms != 0;
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}
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// accessor for flighttime. Returns 0 if not flying, otherwise
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// total time flying since boot in seconds
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uint32_t get_flight_time_s(void);
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// get singleton
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static AP_Stats *get_singleton(void) {
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return _singleton;
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}
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static const struct AP_Param::GroupInfo var_info[];
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private:
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static AP_Stats *_singleton;
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struct {
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AP_Int16 bootcount;
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AP_Int32 flttime;
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AP_Int32 runtime;
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AP_Int32 reset;
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} params;
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void copy_variables_from_parameters();
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uint64_t last_flush_ms; // in terms of system uptime
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const uint16_t flush_interval_ms = 30000;
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uint64_t _flying_ms;
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uint64_t _last_runtime_ms;
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void update_flighttime();
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void update_runtime();
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};
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namespace AP {
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AP_Stats *stats();
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};
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