mirror of https://github.com/ArduPilot/ardupilot
54 lines
1.3 KiB
C++
54 lines
1.3 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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// 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 parameters were reset
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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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static const struct AP_Param::GroupInfo var_info[];
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private:
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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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