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ardupilot/APMrover2/Log.cpp

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#include "Rover.h"
#include <AP_RangeFinder/RangeFinder_Backend.h>
#if LOGGING_ENABLED == ENABLED
struct PACKED log_Arm_Disarm {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t arm_state;
uint16_t arm_checks;
};
void Rover::Log_Write_Arm_Disarm()
{
struct log_Arm_Disarm pkt = {
LOG_PACKET_HEADER_INIT(LOG_ARM_DISARM_MSG),
time_us : AP_HAL::micros64(),
arm_state : arming.is_armed(),
arm_checks : arming.get_enabled_checks()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Write an attitude packet
void Rover::Log_Write_Attitude()
{
float desired_pitch_cd = degrees(g2.attitude_control.get_desired_pitch()) * 100.0f;
const Vector3f targets(0.0f, desired_pitch_cd, 0.0f);
DataFlash.Log_Write_Attitude(ahrs, targets);
#if AP_AHRS_NAVEKF_AVAILABLE
DataFlash.Log_Write_EKF(ahrs);
DataFlash.Log_Write_AHRS2(ahrs);
#endif
DataFlash.Log_Write_POS(ahrs);
// log steering rate controller
DataFlash.Log_Write_PID(LOG_PIDS_MSG, g2.attitude_control.get_steering_rate_pid().get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDA_MSG, g2.attitude_control.get_throttle_speed_pid().get_pid_info());
// log pitch control for balance bots
if (is_balancebot()) {
DataFlash.Log_Write_PID(LOG_PIDP_MSG, g2.attitude_control.get_pitch_to_throttle_pid().get_pid_info());
}
// log heel to sail control for sailboats
if (g2.motors.has_sail()) {
DataFlash.Log_Write_PID(LOG_PIDR_MSG, g2.attitude_control.get_sailboat_heel_pid().get_pid_info());
}
}
// Write a range finder depth message
void Rover::Log_Write_Depth()
{
// only log depth on boats with working downward facing range finders
if (!rover.is_boat() || !rangefinder.has_data_orient(ROTATION_PITCH_270)) {
return;
}
// get position
Location loc;
if (!ahrs.get_position(loc)) {
return;
}
// check if new sensor reading has arrived
uint32_t reading_ms = rangefinder.last_reading_ms(ROTATION_PITCH_270);
if (reading_ms == rangefinder_last_reading_ms) {
return;
}
rangefinder_last_reading_ms = reading_ms;
DataFlash.Log_Write("DPTH", "TimeUS,Lat,Lng,Depth",
"sDUm", "FGG0", "QLLf",
AP_HAL::micros64(),
loc.lat,
loc.lng,
(double)(rangefinder.distance_cm_orient(ROTATION_PITCH_270) * 0.01f));
}
struct PACKED log_Error {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t sub_system;
uint8_t error_code;
};
// Write an error packet
void Rover::Log_Write_Error(uint8_t sub_system, uint8_t error_code)
{
struct log_Error pkt = {
LOG_PACKET_HEADER_INIT(LOG_ERROR_MSG),
time_us : AP_HAL::micros64(),
sub_system : sub_system,
error_code : error_code,
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// guided mode logging
struct PACKED log_GuidedTarget {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t type;
float pos_target_x;
float pos_target_y;
float pos_target_z;
float vel_target_x;
float vel_target_y;
float vel_target_z;
};
// Write a Guided mode target
void Rover::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target)
{
struct log_GuidedTarget pkt = {
LOG_PACKET_HEADER_INIT(LOG_GUIDEDTARGET_MSG),
time_us : AP_HAL::micros64(),
type : target_type,
pos_target_x : pos_target.x,
pos_target_y : pos_target.y,
pos_target_z : pos_target.z,
vel_target_x : vel_target.x,
vel_target_y : vel_target.y,
vel_target_z : vel_target.z
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Nav_Tuning {
LOG_PACKET_HEADER;
uint64_t time_us;
float wp_distance;
uint16_t wp_bearing_cd;
uint16_t nav_bearing_cd;
uint16_t yaw;
float xtrack_error;
};
// Write a navigation tuning packet
void Rover::Log_Write_Nav_Tuning()
{
struct log_Nav_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_NTUN_MSG),
time_us : AP_HAL::micros64(),
wp_distance : control_mode->get_distance_to_destination(),
wp_bearing_cd : (uint16_t)wrap_360_cd(nav_controller->target_bearing_cd()),
nav_bearing_cd : (uint16_t)wrap_360_cd(nav_controller->nav_bearing_cd()),
yaw : (uint16_t)ahrs.yaw_sensor,
xtrack_error : nav_controller->crosstrack_error()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
void Rover::Log_Write_Proximity()
{
DataFlash.Log_Write_Proximity(g2.proximity);
}
void Rover::Log_Write_Sail()
{
// only log sail if present
if (!g2.motors.has_sail()) {
return;
}
// get wind direction
float wind_dir_rel = 0.0f;
if (rover.g2.windvane.enabled()) {
wind_dir_rel = degrees(g2.windvane.get_apparent_wind_direction_rad());
}
DataFlash.Log_Write("SAIL", "TimeUS,WindDirRel,SailOut,VMG",
"sh%n", "F000", "Qfff",
AP_HAL::micros64(),
(double)wind_dir_rel,
(double)g2.motors.get_mainsail(),
(double)sailboat_get_VMG());
}
struct PACKED log_Steering {
LOG_PACKET_HEADER;
uint64_t time_us;
int16_t steering_in;
float steering_out;
float desired_lat_accel;
float lat_accel;
float desired_turn_rate;
float turn_rate;
};
struct PACKED log_Startup {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t startup_type;
uint16_t command_total;
};
void Rover::Log_Write_Startup(uint8_t type)
{
struct log_Startup pkt = {
LOG_PACKET_HEADER_INIT(LOG_STARTUP_MSG),
time_us : AP_HAL::micros64(),
startup_type : type,
command_total : mission.num_commands()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Write a steering packet
void Rover::Log_Write_Steering()
{
float lat_accel = DataFlash.quiet_nanf();
g2.attitude_control.get_lat_accel(lat_accel);
struct log_Steering pkt = {
LOG_PACKET_HEADER_INIT(LOG_STEERING_MSG),
time_us : AP_HAL::micros64(),
steering_in : channel_steer->get_control_in(),
steering_out : g2.motors.get_steering(),
desired_lat_accel : g2.attitude_control.get_desired_lat_accel(),
lat_accel : lat_accel,
desired_turn_rate : degrees(g2.attitude_control.get_desired_turn_rate()),
turn_rate : degrees(ahrs.get_yaw_rate_earth())
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Throttle {
LOG_PACKET_HEADER;
uint64_t time_us;
int16_t throttle_in;
float throttle_out;
float desired_speed;
float speed;
float accel_y;
};
// Write a throttle control packet
void Rover::Log_Write_Throttle()
{
const Vector3f accel = ins.get_accel();
float speed = DataFlash.quiet_nanf();
g2.attitude_control.get_forward_speed(speed);
struct log_Throttle pkt = {
LOG_PACKET_HEADER_INIT(LOG_THR_MSG),
time_us : AP_HAL::micros64(),
throttle_in : channel_throttle->get_control_in(),
throttle_out : g2.motors.get_throttle(),
desired_speed : g2.attitude_control.get_desired_speed(),
speed : speed,
accel_y : accel.y
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Rangefinder {
LOG_PACKET_HEADER;
uint64_t time_us;
float lateral_accel;
uint16_t rangefinder1_distance;
uint16_t rangefinder2_distance;
uint16_t detected_count;
int8_t turn_angle;
uint16_t turn_time;
uint16_t ground_speed;
int8_t throttle;
};
// Write a rangefinder packet
void Rover::Log_Write_Rangefinder()
{
uint16_t turn_time = 0;
if (!is_zero(obstacle.turn_angle)) {
turn_time = AP_HAL::millis() - obstacle.detected_time_ms;
}
AP_RangeFinder_Backend *s0 = rangefinder.get_backend(0);
AP_RangeFinder_Backend *s1 = rangefinder.get_backend(1);
struct log_Rangefinder pkt = {
LOG_PACKET_HEADER_INIT(LOG_RANGEFINDER_MSG),
time_us : AP_HAL::micros64(),
lateral_accel : g2.attitude_control.get_desired_lat_accel(),
rangefinder1_distance : s0 ? s0->distance_cm() : (uint16_t)0,
rangefinder2_distance : s1 ? s1->distance_cm() : (uint16_t)0,
detected_count : obstacle.detected_count,
turn_angle : static_cast<int8_t>(obstacle.turn_angle),
turn_time : turn_time,
ground_speed : static_cast<uint16_t>(fabsf(ground_speed * 100.0f)),
throttle : int8_t(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle))
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
void Rover::Log_Write_RC(void)
{
DataFlash.Log_Write_RCIN();
DataFlash.Log_Write_RCOUT();
if (rssi.enabled()) {
DataFlash.Log_Write_RSSI(rssi);
}
}
// wheel encoder packet
struct PACKED log_WheelEncoder {
LOG_PACKET_HEADER;
uint64_t time_us;
float distance_0;
uint8_t quality_0;
float rpm_0;
float distance_1;
uint8_t quality_1;
float rpm_1;
};
// log wheel encoder information
void Rover::Log_Write_WheelEncoder()
{
// return immediately if no wheel encoders are enabled
if (!g2.wheel_encoder.enabled(0) && !g2.wheel_encoder.enabled(1)) {
return;
}
struct log_WheelEncoder pkt = {
LOG_PACKET_HEADER_INIT(LOG_WHEELENCODER_MSG),
time_us : AP_HAL::micros64(),
distance_0 : g2.wheel_encoder.get_distance(0),
quality_0 : (uint8_t)constrain_float(g2.wheel_encoder.get_signal_quality(0), 0.0f, 100.0f),
rpm_0 : wheel_encoder_rpm[0],
distance_1 : g2.wheel_encoder.get_distance(1),
quality_1 : (uint8_t)constrain_float(g2.wheel_encoder.get_signal_quality(1), 0.0f, 100.0f),
rpm_1 : wheel_encoder_rpm[1]
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
void Rover::Log_Write_Vehicle_Startup_Messages()
{
// only 200(?) bytes are guaranteed by DataFlash
Log_Write_Startup(TYPE_GROUNDSTART_MSG);
DataFlash.Log_Write_Mode(control_mode->mode_number(), control_mode_reason);
ahrs.Log_Write_Home_And_Origin();
gps.Write_DataFlash_Log_Startup_messages();
}
// type and unit information can be found in
// libraries/DataFlash/Logstructure.h; search for "log_Units" for
// units and "Format characters" for field type information
const LogStructure Rover::log_structure[] = {
LOG_COMMON_STRUCTURES,
{ LOG_STARTUP_MSG, sizeof(log_Startup),
"STRT", "QBH", "TimeUS,SType,CTot", "s--", "F--" },
{ LOG_THR_MSG, sizeof(log_Throttle),
"THR", "Qhffff", "TimeUS,ThrIn,ThrOut,DesSpeed,Speed,AccY", "s--nno", "F--000" },
{ LOG_NTUN_MSG, sizeof(log_Nav_Tuning),
"NTUN", "QfHHHf", "TimeUS,WpDist,WpBrg,DesYaw,Yaw,XTrack", "smdddm", "F0BBB0" },
{ LOG_RANGEFINDER_MSG, sizeof(log_Rangefinder),
"RGFD", "QfHHHbHCb", "TimeUS,LatAcc,R1Dist,R2Dist,DCnt,TAng,TTim,Spd,Thr", "somm-hsm-", "F0BB-0CB-" },
{ LOG_ARM_DISARM_MSG, sizeof(log_Arm_Disarm),
"ARM", "QBH", "TimeUS,ArmState,ArmChecks", "s--", "F--" },
{ LOG_STEERING_MSG, sizeof(log_Steering),
"STER", "Qhfffff", "TimeUS,SteerIn,SteerOut,DesLatAcc,LatAcc,DesTurnRate,TurnRate", "s--ookk", "F--0000" },
{ LOG_GUIDEDTARGET_MSG, sizeof(log_GuidedTarget),
"GUID", "QBffffff", "TimeUS,Type,pX,pY,pZ,vX,vY,vZ", "s-mmmnnn", "F-000000" },
{ LOG_ERROR_MSG, sizeof(log_Error),
"ERR", "QBB", "TimeUS,Subsys,ECode", "s--", "F--" },
{ LOG_WHEELENCODER_MSG, sizeof(log_WheelEncoder),
"WENC", "Qfbffbf", "TimeUS,Dist0,Qual0,RPM0,Dist1,Qual1,RPM1", "sm-qm-q", "F0--0--" },
};
void Rover::log_init(void)
{
DataFlash.Init(log_structure, ARRAY_SIZE(log_structure));
}
#else // LOGGING_ENABLED
// dummy functions
void Rover::Log_Write_Arm_Disarm() {}
void Rover::Log_Write_Attitude() {}
void Rover::Log_Write_Depth() {}
void Rover::Log_Write_Error(uint8_t sub_system, uint8_t error_code) {}
void Rover::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
void Rover::Log_Write_Nav_Tuning() {}
void Rover::Log_Write_Proximity() {}
void Rover::Log_Write_Sail() {}
void Rover::Log_Write_Startup(uint8_t type) {}
void Rover::Log_Write_Throttle() {}
void Rover::Log_Write_Rangefinder() {}
void Rover::Log_Write_RC(void) {}
void Rover::Log_Write_Steering() {}
void Rover::Log_Write_WheelEncoder() {}\
void Rover::Log_Write_Vehicle_Startup_Messages() {}
#endif // LOGGING_ENABLED
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