mirror of https://github.com/ArduPilot/ardupilot
387 lines
12 KiB
C++
387 lines
12 KiB
C++
#include "Rover.h"
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#include "version.h"
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#include <AP_RangeFinder/RangeFinder_Backend.h>
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#if LOGGING_ENABLED == ENABLED
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struct PACKED log_Performance {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint32_t loop_time;
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uint16_t main_loop_count;
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uint32_t g_dt_max;
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int16_t gyro_drift_x;
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int16_t gyro_drift_y;
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int16_t gyro_drift_z;
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uint8_t i2c_lockup_count;
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uint16_t ins_error_count;
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uint32_t mem_avail;
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};
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// Write a performance monitoring packet. Total length : 19 bytes
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void Rover::Log_Write_Performance()
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{
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struct log_Performance pkt = {
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LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG),
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time_us : AP_HAL::micros64(),
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loop_time : millis()- perf_mon_timer,
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main_loop_count : mainLoop_count,
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g_dt_max : G_Dt_max,
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gyro_drift_x : (int16_t)(ahrs.get_gyro_drift().x * 1000),
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gyro_drift_y : (int16_t)(ahrs.get_gyro_drift().y * 1000),
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gyro_drift_z : (int16_t)(ahrs.get_gyro_drift().z * 1000),
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i2c_lockup_count: 0,
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ins_error_count : ins.error_count(),
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hal.util->available_memory()
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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struct PACKED log_Steering {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float demanded_accel;
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float achieved_accel;
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};
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// Write a steering packet
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void Rover::Log_Write_Steering()
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{
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struct log_Steering pkt = {
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LOG_PACKET_HEADER_INIT(LOG_STEERING_MSG),
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time_us : AP_HAL::micros64(),
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demanded_accel : control_mode->lateral_acceleration,
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achieved_accel : ahrs.groundspeed() * ins.get_gyro().z,
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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// Write beacon position and distances
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void Rover::Log_Write_Beacon()
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{
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// exit immediately if feature is disabled
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if (!g2.beacon.enabled()) {
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return;
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}
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DataFlash.Log_Write_Beacon(g2.beacon);
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}
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struct PACKED log_Startup {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t startup_type;
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uint16_t command_total;
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};
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void Rover::Log_Write_Startup(uint8_t type)
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{
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struct log_Startup pkt = {
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LOG_PACKET_HEADER_INIT(LOG_STARTUP_MSG),
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time_us : AP_HAL::micros64(),
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startup_type : type,
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command_total : mission.num_commands()
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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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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int16_t steer_out;
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int16_t roll;
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int16_t pitch;
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int16_t throttle_out;
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float accel_y;
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};
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// Write a control tuning packet. Total length : 22 bytes
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void Rover::Log_Write_Control_Tuning()
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{
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const Vector3f accel = ins.get_accel();
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struct log_Control_Tuning pkt = {
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LOG_PACKET_HEADER_INIT(LOG_CTUN_MSG),
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time_us : AP_HAL::micros64(),
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steer_out : (int16_t)g2.motors.get_steering(),
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roll : (int16_t)ahrs.roll_sensor,
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pitch : (int16_t)ahrs.pitch_sensor,
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throttle_out : (int16_t)g2.motors.get_throttle(),
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accel_y : accel.y
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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struct PACKED log_Nav_Tuning {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint16_t yaw;
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float wp_distance;
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uint16_t target_bearing_cd;
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uint16_t nav_bearing_cd;
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int8_t throttle;
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float xtrack_error;
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};
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// Write a navigation tuning packet
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void Rover::Log_Write_Nav_Tuning()
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{
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struct log_Nav_Tuning pkt = {
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LOG_PACKET_HEADER_INIT(LOG_NTUN_MSG),
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time_us : AP_HAL::micros64(),
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yaw : static_cast<uint16_t>(ahrs.yaw_sensor),
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wp_distance : control_mode->get_distance_to_destination(),
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target_bearing_cd : static_cast<uint16_t>(abs(nav_controller->target_bearing_cd())),
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nav_bearing_cd : static_cast<uint16_t>(abs(nav_controller->nav_bearing_cd())),
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throttle : int8_t(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle)),
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xtrack_error : nav_controller->crosstrack_error()
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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 Rover::Log_Write_Attitude()
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{
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const Vector3f targets(0.0f, 0.0f, 0.0f); // Rover does not have attitude targets, use place-holder for commonality with Dataflash Log_Write_Attitude message
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DataFlash.Log_Write_Attitude(ahrs, targets);
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#if AP_AHRS_NAVEKF_AVAILABLE
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DataFlash.Log_Write_EKF(ahrs);
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DataFlash.Log_Write_AHRS2(ahrs);
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#endif
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DataFlash.Log_Write_POS(ahrs);
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// log steering rate controller
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DataFlash.Log_Write_PID(LOG_PIDS_MSG, g2.attitude_control.get_steering_rate_pid().get_pid_info());
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DataFlash.Log_Write_PID(LOG_PIDA_MSG, g2.attitude_control.get_throttle_speed_pid().get_pid_info());
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}
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struct PACKED log_Rangefinder {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float lateral_accel;
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uint16_t rangefinder1_distance;
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uint16_t rangefinder2_distance;
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uint16_t detected_count;
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int8_t turn_angle;
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uint16_t turn_time;
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uint16_t ground_speed;
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int8_t throttle;
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};
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// Write a rangefinder packet
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void Rover::Log_Write_Rangefinder()
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{
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uint16_t turn_time = 0;
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if (!is_zero(obstacle.turn_angle)) {
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turn_time = AP_HAL::millis() - obstacle.detected_time_ms;
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}
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AP_RangeFinder_Backend *s0 = rangefinder.get_backend(0);
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AP_RangeFinder_Backend *s1 = rangefinder.get_backend(1);
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struct log_Rangefinder pkt = {
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LOG_PACKET_HEADER_INIT(LOG_RANGEFINDER_MSG),
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time_us : AP_HAL::micros64(),
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lateral_accel : control_mode->lateral_acceleration,
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rangefinder1_distance : s0 ? s0->distance_cm() : (uint16_t)0,
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rangefinder2_distance : s1 ? s1->distance_cm() : (uint16_t)0,
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detected_count : obstacle.detected_count,
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turn_angle : static_cast<int8_t>(obstacle.turn_angle),
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turn_time : turn_time,
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ground_speed : static_cast<uint16_t>(fabsf(ground_speed * 100.0f)),
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throttle : int8_t(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle))
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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void Rover::Log_Write_Current()
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{
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DataFlash.Log_Write_Current(battery);
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// also write power status
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DataFlash.Log_Write_Power();
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}
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struct PACKED log_Arm_Disarm {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t arm_state;
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uint16_t arm_checks;
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};
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void Rover::Log_Arm_Disarm() {
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struct log_Arm_Disarm pkt = {
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LOG_PACKET_HEADER_INIT(LOG_ARM_DISARM_MSG),
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time_us : AP_HAL::micros64(),
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arm_state : arming.is_armed(),
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arm_checks : arming.get_enabled_checks()
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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void Rover::Log_Write_RC(void)
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{
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DataFlash.Log_Write_RCIN();
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DataFlash.Log_Write_RCOUT();
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if (rssi.enabled()) {
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DataFlash.Log_Write_RSSI(rssi);
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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 Rover::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.WriteBlock(&pkt, sizeof(pkt));
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}
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void Rover::Log_Write_Baro(void)
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{
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DataFlash.Log_Write_Baro(barometer);
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}
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// log ahrs home and EKF origin to dataflash
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void Rover::Log_Write_Home_And_Origin()
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{
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#if AP_AHRS_NAVEKF_AVAILABLE
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// log ekf origin if set
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Location ekf_orig;
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if (ahrs.get_origin(ekf_orig)) {
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DataFlash.Log_Write_Origin(LogOriginType::ekf_origin, ekf_orig);
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}
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#endif
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// log ahrs home if set
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if (home_is_set != HOME_UNSET) {
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DataFlash.Log_Write_Origin(LogOriginType::ahrs_home, ahrs.get_home());
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}
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}
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// guided mode logging
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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 Rover::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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// wheel encoder packet
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struct PACKED log_WheelEncoder {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float distance_0;
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uint8_t quality_0;
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float distance_1;
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uint8_t quality_1;
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};
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// log wheel encoder information
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void Rover::Log_Write_WheelEncoder()
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{
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// return immediately if no wheel encoders are enabled
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if (!g2.wheel_encoder.enabled(0) && !g2.wheel_encoder.enabled(1)) {
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return;
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}
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struct log_WheelEncoder pkt = {
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LOG_PACKET_HEADER_INIT(LOG_WHEELENCODER_MSG),
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time_us : AP_HAL::micros64(),
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distance_0 : g2.wheel_encoder.get_distance(0),
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quality_0 : (uint8_t)constrain_float(g2.wheel_encoder.get_signal_quality(0), 0.0f, 100.0f),
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distance_1 : g2.wheel_encoder.get_distance(1),
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quality_1 : (uint8_t)constrain_float(g2.wheel_encoder.get_signal_quality(1), 0.0f, 100.0f)
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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const LogStructure Rover::log_structure[] = {
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LOG_COMMON_STRUCTURES,
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{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
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"PM", "QIHIhhhBHI", "TimeUS,LTime,MLC,gDt,GDx,GDy,GDz,I2CErr,INSErr,Mem" },
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{ LOG_STARTUP_MSG, sizeof(log_Startup),
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"STRT", "QBH", "TimeUS,SType,CTot" },
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{ LOG_CTUN_MSG, sizeof(log_Control_Tuning),
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"CTUN", "Qhcchf", "TimeUS,Steer,Roll,Pitch,ThrOut,AccY" },
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{ LOG_NTUN_MSG, sizeof(log_Nav_Tuning),
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"NTUN", "QHfHHbf", "TimeUS,Yaw,WpDist,TargBrg,NavBrg,Thr,XT" },
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{ LOG_RANGEFINDER_MSG, sizeof(log_Rangefinder),
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"RGFD", "QfHHHbHCb", "TimeUS,LatAcc,R1Dist,R2Dist,DCnt,TAng,TTim,Spd,Thr" },
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{ LOG_ARM_DISARM_MSG, sizeof(log_Arm_Disarm),
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"ARM", "QBH", "TimeUS,ArmState,ArmChecks" },
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{ LOG_STEERING_MSG, sizeof(log_Steering),
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"STER", "Qff", "TimeUS,Demanded,Achieved" },
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{ LOG_GUIDEDTARGET_MSG, sizeof(log_GuidedTarget),
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"GUID", "QBffffff", "TimeUS,Type,pX,pY,pZ,vX,vY,vZ" },
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{ LOG_ERROR_MSG, sizeof(log_Error),
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"ERR", "QBB", "TimeUS,Subsys,ECode" },
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{ LOG_WHEELENCODER_MSG, sizeof(log_WheelEncoder),
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"WENC", "Qfbfb", "TimeUS,Dist0,Qual0,Dist1,Qual1" },
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};
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void Rover::log_init(void)
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{
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DataFlash.Init(log_structure, ARRAY_SIZE(log_structure));
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}
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void Rover::Log_Write_Vehicle_Startup_Messages()
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{
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// only 200(?) bytes are guaranteed by DataFlash
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Log_Write_Startup(TYPE_GROUNDSTART_MSG);
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DataFlash.Log_Write_Mode(control_mode->mode_number(), control_mode_reason);
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Log_Write_Home_And_Origin();
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gps.Write_DataFlash_Log_Startup_messages();
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}
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#else // LOGGING_ENABLED
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// dummy functions
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void Rover::Log_Write_Startup(uint8_t type) {}
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void Rover::Log_Write_Current() {}
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void Rover::Log_Write_Nav_Tuning() {}
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void Rover::Log_Write_Performance() {}
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void Rover::Log_Write_Control_Tuning() {}
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void Rover::Log_Write_Rangefinder() {}
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void Rover::Log_Write_Attitude() {}
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void Rover::Log_Write_RC(void) {}
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void Rover::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
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void Rover::Log_Write_Home_And_Origin() {}
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void Rover::Log_Write_Baro(void) {}
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void Rover::Log_Arm_Disarm() {}
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void Rover::Log_Write_Error(uint8_t sub_system, uint8_t error_code) {}
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void Rover::Log_Write_Steering() {}
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void Rover::Log_Write_WheelEncoder() {}
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#endif // LOGGING_ENABLED
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