mirror of https://github.com/ArduPilot/ardupilot
149 lines
3.6 KiB
C++
149 lines
3.6 KiB
C++
#include "AP_Stats.h"
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#include <AP_Math/AP_Math.h>
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#include <AP_RTC/AP_RTC.h>
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const extern AP_HAL::HAL& hal;
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// table of user settable parameters
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const AP_Param::GroupInfo AP_Stats::var_info[] = {
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// @Param: _BOOTCNT
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// @DisplayName: Boot Count
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// @Description: Number of times board has been booted
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// @ReadOnly: True
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// @User: Standard
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AP_GROUPINFO("_BOOTCNT", 0, AP_Stats, params.bootcount, 0),
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// @Param: _FLTTIME
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// @DisplayName: Total FlightTime
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// @Description: Total FlightTime (seconds)
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// @Units: s
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// @ReadOnly: True
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// @User: Standard
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AP_GROUPINFO("_FLTTIME", 1, AP_Stats, params.flttime, 0),
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// @Param: _RUNTIME
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// @DisplayName: Total RunTime
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// @Description: Total time autopilot has run
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// @Units: s
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// @ReadOnly: True
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// @User: Standard
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AP_GROUPINFO("_RUNTIME", 2, AP_Stats, params.runtime, 0),
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// @Param: _RESET
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// @DisplayName: Statistics Reset Time
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// @Description: Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset (set to 0 to reset statistics)
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// @Units: s
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// @ReadOnly: True
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// @User: Standard
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AP_GROUPINFO("_RESET", 3, AP_Stats, params.reset, 1),
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AP_GROUPEND
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};
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AP_Stats *AP_Stats::_singleton;
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// constructor
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AP_Stats::AP_Stats(void)
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{
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_singleton = this;
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}
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void AP_Stats::copy_variables_from_parameters()
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{
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flttime = params.flttime;
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runtime = params.runtime;
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reset = params.reset;
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flttime_boot = flttime;
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}
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void AP_Stats::init()
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{
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params.bootcount.set_and_save(params.bootcount+1);
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// initialise our variables from parameters:
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copy_variables_from_parameters();
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}
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void AP_Stats::flush()
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{
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params.flttime.set_and_save_ifchanged(flttime);
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params.runtime.set_and_save_ifchanged(runtime);
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}
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void AP_Stats::update_flighttime()
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{
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if (_flying_ms) {
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WITH_SEMAPHORE(sem);
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const uint32_t now = AP_HAL::millis();
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const uint32_t delta = (now - _flying_ms)/1000;
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flttime += delta;
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_flying_ms += delta*1000;
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}
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}
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void AP_Stats::update_runtime()
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{
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const uint32_t now = AP_HAL::millis();
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const uint32_t delta = (now - _last_runtime_ms)/1000;
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runtime += delta;
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_last_runtime_ms += delta*1000;
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}
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void AP_Stats::update()
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{
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WITH_SEMAPHORE(sem);
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const uint32_t now_ms = AP_HAL::millis();
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if (now_ms - last_flush_ms > flush_interval_ms) {
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update_flighttime();
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update_runtime();
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flush();
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last_flush_ms = now_ms;
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}
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const uint32_t params_reset = params.reset;
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if (params_reset != reset || params_reset == 0) {
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params.bootcount.set_and_save_ifchanged(params_reset == 0 ? 1 : 0);
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params.flttime.set_and_save_ifchanged(0);
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params.runtime.set_and_save_ifchanged(0);
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uint32_t system_clock = 0; // in seconds
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uint64_t rtc_clock_us;
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if (AP::rtc().get_utc_usec(rtc_clock_us)) {
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system_clock = rtc_clock_us / 1000000;
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// can't store Unix seconds in a 32-bit float. Change the
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// time base to Jan 1st 2016:
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system_clock -= 1451606400;
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}
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params.reset.set_and_save_ifchanged(system_clock);
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copy_variables_from_parameters();
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}
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}
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void AP_Stats::set_flying(const bool is_flying)
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{
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if (is_flying) {
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if (!_flying_ms) {
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_flying_ms = AP_HAL::millis();
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}
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} else {
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update_flighttime();
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_flying_ms = 0;
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}
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}
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/*
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get time in flight since boot
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*/
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uint32_t AP_Stats::get_flight_time_s(void)
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{
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update_flighttime();
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return flttime - flttime_boot;
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}
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AP_Stats *AP::stats(void)
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{
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return AP_Stats::get_singleton();
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}
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