mirror of https://github.com/ArduPilot/ardupilot
343 lines
10 KiB
C++
343 lines
10 KiB
C++
#include "Sub.h"
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#if LOGGING_ENABLED == ENABLED
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// Code to Write and Read packets from DataFlash log memory
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// Code to interact with the user to dump or erase logs
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struct PACKED log_Control_Tuning {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float throttle_in;
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float angle_boost;
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float throttle_out;
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float throttle_hover;
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float desired_alt;
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float inav_alt;
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float baro_alt;
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int16_t desired_rangefinder_alt;
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int16_t rangefinder_alt;
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float terr_alt;
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int16_t target_climb_rate;
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int16_t climb_rate;
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};
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// Write a control tuning packet
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void Sub::Log_Write_Control_Tuning()
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{
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// get terrain altitude
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float terr_alt = 0.0f;
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#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
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terrain.height_above_terrain(terr_alt, true);
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#endif
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struct log_Control_Tuning pkt = {
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LOG_PACKET_HEADER_INIT(LOG_CONTROL_TUNING_MSG),
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time_us : AP_HAL::micros64(),
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throttle_in : attitude_control.get_throttle_in(),
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angle_boost : attitude_control.angle_boost(),
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throttle_out : motors.get_throttle(),
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throttle_hover : motors.get_throttle_hover(),
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desired_alt : pos_control.get_alt_target() / 100.0f,
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inav_alt : inertial_nav.get_altitude() / 100.0f,
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baro_alt : barometer.get_altitude(),
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desired_rangefinder_alt : (int16_t)target_rangefinder_alt,
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rangefinder_alt : rangefinder_state.alt_cm,
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terr_alt : terr_alt,
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target_climb_rate : (int16_t)pos_control.get_vel_target_z(),
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climb_rate : climb_rate
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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// Write an attitude packet
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void Sub::Log_Write_Attitude()
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{
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Vector3f targets = attitude_control.get_att_target_euler_cd();
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targets.z = wrap_360_cd(targets.z);
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DataFlash.Log_Write_Attitude(ahrs, targets);
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DataFlash.Log_Write_EKF(ahrs);
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DataFlash.Log_Write_AHRS2(ahrs);
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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sitl.Log_Write_SIMSTATE(&DataFlash);
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#endif
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DataFlash.Log_Write_POS(ahrs);
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}
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struct PACKED log_MotBatt {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float lift_max;
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float bat_volt;
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float bat_res;
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float th_limit;
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};
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// Write an rate packet
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void Sub::Log_Write_MotBatt()
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{
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struct log_MotBatt pkt_mot = {
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LOG_PACKET_HEADER_INIT(LOG_MOTBATT_MSG),
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time_us : AP_HAL::micros64(),
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lift_max : (float)(motors.get_lift_max()),
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bat_volt : (float)(motors.get_batt_voltage_filt()),
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bat_res : (float)(battery.get_resistance()),
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th_limit : (float)(motors.get_throttle_limit())
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};
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DataFlash.WriteBlock(&pkt_mot, sizeof(pkt_mot));
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}
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struct PACKED log_Event {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t id;
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};
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// Wrote an event packet
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void Sub::Log_Write_Event(uint8_t id)
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{
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if (should_log(MASK_LOG_ANY)) {
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struct log_Event pkt = {
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LOG_PACKET_HEADER_INIT(LOG_EVENT_MSG),
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time_us : AP_HAL::micros64(),
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id : id
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};
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DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
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}
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}
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struct PACKED log_Data_Int16t {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t id;
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int16_t data_value;
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};
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// Write an int16_t data packet
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UNUSED_FUNCTION
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void Sub::Log_Write_Data(uint8_t id, int16_t value)
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{
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if (should_log(MASK_LOG_ANY)) {
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struct log_Data_Int16t pkt = {
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LOG_PACKET_HEADER_INIT(LOG_DATA_INT16_MSG),
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time_us : AP_HAL::micros64(),
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id : id,
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data_value : value
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};
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DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
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}
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}
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struct PACKED log_Data_UInt16t {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t id;
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uint16_t data_value;
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};
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// Write an uint16_t data packet
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UNUSED_FUNCTION
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void Sub::Log_Write_Data(uint8_t id, uint16_t value)
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{
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if (should_log(MASK_LOG_ANY)) {
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struct log_Data_UInt16t pkt = {
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LOG_PACKET_HEADER_INIT(LOG_DATA_UINT16_MSG),
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time_us : AP_HAL::micros64(),
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id : id,
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data_value : value
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};
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DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
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}
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}
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struct PACKED log_Data_Int32t {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t id;
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int32_t data_value;
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};
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// Write an int32_t data packet
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void Sub::Log_Write_Data(uint8_t id, int32_t value)
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{
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if (should_log(MASK_LOG_ANY)) {
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struct log_Data_Int32t pkt = {
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LOG_PACKET_HEADER_INIT(LOG_DATA_INT32_MSG),
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time_us : AP_HAL::micros64(),
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id : id,
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data_value : value
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};
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DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
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}
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}
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struct PACKED log_Data_UInt32t {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t id;
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uint32_t data_value;
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};
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// Write a uint32_t data packet
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void Sub::Log_Write_Data(uint8_t id, uint32_t value)
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{
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if (should_log(MASK_LOG_ANY)) {
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struct log_Data_UInt32t pkt = {
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LOG_PACKET_HEADER_INIT(LOG_DATA_UINT32_MSG),
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time_us : AP_HAL::micros64(),
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id : id,
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data_value : value
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};
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DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
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}
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}
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struct PACKED log_Data_Float {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t id;
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float data_value;
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};
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// Write a float data packet
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UNUSED_FUNCTION
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void Sub::Log_Write_Data(uint8_t id, float value)
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{
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if (should_log(MASK_LOG_ANY)) {
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struct log_Data_Float pkt = {
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LOG_PACKET_HEADER_INIT(LOG_DATA_FLOAT_MSG),
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time_us : AP_HAL::micros64(),
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id : id,
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data_value : value
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};
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DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
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}
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}
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struct PACKED log_Error {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t sub_system;
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uint8_t error_code;
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};
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// Write an error packet
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void Sub::Log_Write_Error(uint8_t sub_system, uint8_t error_code)
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{
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struct log_Error pkt = {
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LOG_PACKET_HEADER_INIT(LOG_ERROR_MSG),
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time_us : AP_HAL::micros64(),
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sub_system : sub_system,
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error_code : error_code,
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};
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DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
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}
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// logs when baro or compass becomes unhealthy
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void Sub::Log_Sensor_Health()
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{
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// check baro
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if (sensor_health.baro != barometer.healthy()) {
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sensor_health.baro = barometer.healthy();
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Log_Write_Error(ERROR_SUBSYSTEM_BARO, (sensor_health.baro ? ERROR_CODE_ERROR_RESOLVED : ERROR_CODE_UNHEALTHY));
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}
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// check compass
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if (sensor_health.compass != compass.healthy()) {
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sensor_health.compass = compass.healthy();
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Log_Write_Error(ERROR_SUBSYSTEM_COMPASS, (sensor_health.compass ? ERROR_CODE_ERROR_RESOLVED : ERROR_CODE_UNHEALTHY));
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}
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}
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struct PACKED log_GuidedTarget {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t type;
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float pos_target_x;
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float pos_target_y;
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float pos_target_z;
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float vel_target_x;
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float vel_target_y;
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float vel_target_z;
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};
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// Write a Guided mode target
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void Sub::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target)
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{
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struct log_GuidedTarget pkt = {
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LOG_PACKET_HEADER_INIT(LOG_GUIDEDTARGET_MSG),
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time_us : AP_HAL::micros64(),
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type : target_type,
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pos_target_x : pos_target.x,
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pos_target_y : pos_target.y,
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pos_target_z : pos_target.z,
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vel_target_x : vel_target.x,
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vel_target_y : vel_target.y,
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vel_target_z : vel_target.z
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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// type and unit information can be found in
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// libraries/DataFlash/Logstructure.h; search for "log_Units" for
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// units and "Format characters" for field type information
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const struct LogStructure Sub::log_structure[] = {
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LOG_COMMON_STRUCTURES,
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{ LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning),
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"CTUN", "Qfffffffccfhh", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DSAlt,SAlt,TAlt,DCRt,CRt", "s----mmmmmmnn", "F----00BBBBBB" },
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{ LOG_MOTBATT_MSG, sizeof(log_MotBatt),
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"MOTB", "Qffff", "TimeUS,LiftMax,BatVolt,BatRes,ThLimit", "s-vw-", "F-00-" },
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{ LOG_EVENT_MSG, sizeof(log_Event),
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"EV", "QB", "TimeUS,Id", "s-", "F-" },
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{ LOG_DATA_INT16_MSG, sizeof(log_Data_Int16t),
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"D16", "QBh", "TimeUS,Id,Value", "s--", "F--" },
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{ LOG_DATA_UINT16_MSG, sizeof(log_Data_UInt16t),
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"DU16", "QBH", "TimeUS,Id,Value", "s--", "F--" },
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{ LOG_DATA_INT32_MSG, sizeof(log_Data_Int32t),
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"D32", "QBi", "TimeUS,Id,Value", "s--", "F--" },
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{ LOG_DATA_UINT32_MSG, sizeof(log_Data_UInt32t),
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"DU32", "QBI", "TimeUS,Id,Value", "s--", "F--" },
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{ LOG_DATA_FLOAT_MSG, sizeof(log_Data_Float),
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"DFLT", "QBf", "TimeUS,Id,Value", "s--", "F--" },
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{ LOG_ERROR_MSG, sizeof(log_Error),
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"ERR", "QBB", "TimeUS,Subsys,ECode", "s--", "F--" },
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{ LOG_GUIDEDTARGET_MSG, sizeof(log_GuidedTarget),
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"GUID", "QBffffff", "TimeUS,Type,pX,pY,pZ,vX,vY,vZ", "s-mmmnnn", "F-000000" },
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};
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void Sub::Log_Write_Vehicle_Startup_Messages()
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{
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// only 200(?) bytes are guaranteed by DataFlash
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DataFlash.Log_Write_Mode(control_mode, control_mode_reason);
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ahrs.Log_Write_Home_And_Origin();
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gps.Write_DataFlash_Log_Startup_messages();
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}
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void Sub::log_init()
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{
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DataFlash.Init(log_structure, ARRAY_SIZE(log_structure));
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}
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#else // LOGGING_ENABLED
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void Sub::Log_Write_Control_Tuning() {}
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void Sub::Log_Write_Performance() {}
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void Sub::Log_Write_Attitude(void) {}
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void Sub::Log_Write_MotBatt() {}
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void Sub::Log_Write_Event(uint8_t id) {}
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void Sub::Log_Write_Data(uint8_t id, int32_t value) {}
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void Sub::Log_Write_Data(uint8_t id, uint32_t value) {}
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void Sub::Log_Write_Data(uint8_t id, int16_t value) {}
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void Sub::Log_Write_Data(uint8_t id, uint16_t value) {}
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void Sub::Log_Write_Data(uint8_t id, float value) {}
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void Sub::Log_Write_Error(uint8_t sub_system, uint8_t error_code) {}
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void Sub::Log_Sensor_Health() {}
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void Sub::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
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void Sub::Log_Write_Vehicle_Startup_Messages() {}
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void Sub::log_init(void) {}
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#endif // LOGGING_ENABLED
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