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ardupilot/ArduCopter/Log.pde

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// -*- 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)
{
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();
DataFlash.ListAvailableLogs(cliSerial);
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);
Log_Read((uint16_t)dump_log, dump_log_start, dump_log_end);
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;
}
struct PACKED log_Current {
LOG_PACKET_HEADER;
int16_t throttle_in;
uint32_t throttle_integrator;
int16_t battery_voltage;
int16_t current_amps;
uint16_t board_voltage;
float current_total;
};
// Write an Current data packet
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),
board_voltage : board_voltage(),
current_total : current_total1
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED 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
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));
}
struct PACKED 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
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
}
struct PACKED 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
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));
}
struct PACKED log_Control_Tuning {
LOG_PACKET_HEADER;
int16_t throttle_in;
int16_t sonar_alt;
int32_t baro_alt;
float 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
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 : baro_alt,
next_wp_alt : get_target_alt_for_reporting() / 100.0f,
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));
}
struct PACKED 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
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));
}
struct PACKED 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;
int16_t pm_test;
uint8_t i2c_lockup_count;
};
// Write a performance monitoring packet
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(),
pm_test : pmTest1,
i2c_lockup_count : hal.i2c->lockup_count()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED 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
static void Log_Write_Cmd(uint8_t num, const 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));
}
struct PACKED 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
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));
}
struct PACKED 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;
int32_t gps_lat_from_home;
int32_t gps_lon_from_home;
float inav_lat_from_home;
float inav_lon_from_home;
};
// Write an INAV packet
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
gps_lat_from_home : g_gps->latitude-home.lat, // 7 lat from home
gps_lon_from_home : g_gps->longitude-home.lng, // 8 lon from home
inav_lat_from_home : inertial_nav.get_latitude_diff(), // 9 accel based lat from home
inav_lon_from_home : inertial_nav.get_longitude_diff() // 10 accel based lon from home
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Mode {
LOG_PACKET_HEADER;
uint8_t mode;
int16_t throttle_cruise;
};
// Write a mode packet
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));
}
struct PACKED log_Startup {
LOG_PACKET_HEADER;
};
// Write Startup packet
static void Log_Write_Startup()
{
struct log_Startup pkt = {
LOG_PACKET_HEADER_INIT(LOG_STARTUP_MSG)
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED 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));
}
}
struct PACKED 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));
}
}
struct PACKED 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));
}
}
struct PACKED 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));
}
}
struct PACKED 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));
}
}
struct PACKED 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));
}
}
struct PACKED 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
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));
}
struct PACKED 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;
};
#if SECONDARY_DMP_ENABLED == ENABLED
// Write a DMP attitude packet
static void Log_Write_DMP()
{
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
struct PACKED 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
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
}
struct PACKED log_Error {
LOG_PACKET_HEADER;
uint8_t sub_system;
uint8_t error_code;
};
// Write an error packet
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));
}
struct PACKED log_WPNAV {
LOG_PACKET_HEADER;
float pos_error_x;
float pos_error_y;
float desired_velocity_x;
float desired_velocity_y;
float velocity_x;
float velocity_y;
float desired_accel_x;
float desired_accel_y;
int32_t desired_roll;
int32_t desired_pitch;
};
// Write an WPNAV packet
static void Log_Write_WPNAV()
{
Vector3f velocity = inertial_nav.get_velocity();
struct log_WPNAV pkt = {
LOG_PACKET_HEADER_INIT(LOG_WPNAV_MSG),
pos_error_x : wp_nav.dist_error.x,
pos_error_y : wp_nav.dist_error.y,
desired_velocity_x : wp_nav.desired_vel.x,
desired_velocity_y : wp_nav.desired_vel.y,
velocity_x : velocity.x,
velocity_y : velocity.y,
desired_accel_x : wp_nav.desired_accel.x,
desired_accel_y : wp_nav.desired_accel.y,
desired_roll : wp_nav.get_desired_roll(),
desired_pitch : wp_nav.get_desired_pitch()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
static const struct LogStructure log_structure[] PROGMEM = {
LOG_COMMON_STRUCTURES,
{ LOG_CURRENT_MSG, sizeof(log_Current),
"CURR", "hIhhhf", "Thr,ThrInt,Volt,Curr,Vcc,CurrTot" },
#if FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME
{ LOG_MOTORS_MSG, sizeof(log_Motors),
"MOT", "hhhhhhhh", "Mot1,Mot2,Mot3,Mot4,Mot5,Mot6,Mot7,Mot8" },
#elif FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME
{ LOG_MOTORS_MSG, sizeof(log_Motors),
"MOT", "hhhhhh", "Mot1,Mot2,Mot3,Mot4,Mot5,Mot6" },
#elif FRAME_CONFIG == HELI_FRAME
{ LOG_MOTORS_MSG, sizeof(log_Motors),
"MOT", "hhhhh", "Mot1,Mot2,Mot3,Mot4,GGain" },
#else
{ LOG_MOTORS_MSG, sizeof(log_Motors),
"MOT", "hhhh", "Mot1,Mot2,Mot3,Mot4" },
#endif
{ LOG_OPTFLOW_MSG, sizeof(log_Optflow),
"OF", "hhBccffee", "Dx,Dy,SQual,X,Y,Lat,Lng,Roll,Pitch" },
{ LOG_NAV_TUNING_MSG, sizeof(log_Nav_Tuning),
"NTUN", "Ecffcccc", "WPDist,TargBrg,LatErr,LngErr,NavPtch,NavRll,LatSpd,LngSpd" },
{ LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning),
"CTUN", "hcefhhhhh", "ThrIn,SonAlt,BarAlt,WPAlt,NavThr,AngBst,CRate,ThrOut,DCRate" },
{ LOG_COMPASS_MSG, sizeof(log_Compass),
"MAG", "hhhhhhhhh", "MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ" },
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "BBBHHIhB", "RenCnt,RenBlw,FixCnt,NLon,NLoop,MaxT,PMT,I2CErr" },
{ LOG_CMD_MSG, sizeof(log_Cmd),
"CMD", "BBBBBeLL", "CTot,CNum,CId,COpt,Prm1,Alt,Lat,Lng" },
{ LOG_ATTITUDE_MSG, sizeof(log_Attitude),
"ATT", "cccccCC", "RollIn,Roll,PitchIn,Pitch,YawIn,Yaw,NavYaw" },
{ LOG_INAV_MSG, sizeof(log_INAV),
"INAV", "cccfffiiff", "BAlt,IAlt,IClb,ACorrX,ACorrY,ACorrZ,GLat,GLng,ILat,ILng" },
{ LOG_MODE_MSG, sizeof(log_Mode),
"MODE", "Mh", "Mode,ThrCrs" },
{ LOG_STARTUP_MSG, sizeof(log_Startup),
"STRT", "", "" },
{ LOG_EVENT_MSG, sizeof(log_Event),
"EV", "B", "Id" },
{ LOG_DATA_INT16_MSG, sizeof(log_Data_Int16t),
"D16", "Bh", "Id,Value" },
{ LOG_DATA_UINT16_MSG, sizeof(log_Data_UInt16t),
"DU16", "BH", "Id,Value" },
{ LOG_DATA_INT32_MSG, sizeof(log_Data_Int32t),
"D32", "Bi", "Id,Value" },
{ LOG_DATA_UINT32_MSG, sizeof(log_Data_UInt32t),
"DU32", "BI", "Id,Value" },
{ LOG_DATA_FLOAT_MSG, sizeof(log_Data_Float),
"DFLT", "Bf", "Id,Value" },
{ LOG_PID_MSG, sizeof(log_PID),
"PID", "Biiiiif", "Id,Error,P,I,D,Out,Gain" },
{ LOG_DMP_MSG, sizeof(log_DMP),
"DMP", "ccccCC", "DCMRoll,DMPRoll,DCMPtch,DMPPtch,DCMYaw,DMPYaw" },
{ LOG_CAMERA_MSG, sizeof(log_Camera),
"CAM", "ILLeccC", "GPSTime,Lat,Lng,Alt,Roll,Pitch,Yaw" },
{ LOG_ERROR_MSG, sizeof(log_Error),
"ERR", "BB", "Subsys,ECode" },
{ LOG_WPNAV_MSG, sizeof(log_WPNAV),
"WNAV", "ffffffffee", "PErrX,PErrY,DVelX,DVelY,VelX,VelY,DAccX,DAccY,DRoll,DPtch" },
};
// Read the DataFlash log memory
static void Log_Read(uint16_t log_num, uint16_t start_page, uint16_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));
DataFlash.LogReadProcess(log_num, start_page, end_page,
sizeof(log_structure)/sizeof(log_structure[0]),
log_structure,
print_flight_mode,
cliSerial);
}
// start a new log
static void start_logging()
{
if (g.log_bitmask != 0 && !ap.logging_started) {
ap.logging_started = true;
DataFlash.StartNewLog(sizeof(log_structure)/sizeof(log_structure[0]), log_structure);
}
}
#else // LOGGING_ENABLED
static void Log_Write_Startup() {}
static void Log_Write_Cmd(uint8_t num, const 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) {}
#if SECONDARY_DMP_ENABLED == ENABLED
static void Log_Write_DMP() {}
#endif
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
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