mirror of https://github.com/ArduPilot/ardupilot
403 lines
13 KiB
C++
403 lines
13 KiB
C++
#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_abs = DataFlash.quiet_nanf();
|
|
float wind_dir_rel = DataFlash.quiet_nanf();
|
|
float wind_speed_true = DataFlash.quiet_nanf();
|
|
float wind_speed_apparent = DataFlash.quiet_nanf();
|
|
if (rover.g2.windvane.enabled()) {
|
|
wind_dir_abs = degrees(g2.windvane.get_absolute_wind_direction_rad());
|
|
wind_dir_rel = degrees(g2.windvane.get_apparent_wind_direction_rad());
|
|
wind_speed_true = g2.windvane.get_true_wind_speed();
|
|
wind_speed_apparent = g2.windvane.get_apparent_wind_speed();
|
|
}
|
|
DataFlash.Log_Write("SAIL", "TimeUS,WindDirAbs,WindDirApp,WindSpdTrue,WindSpdApp,SailOut,VMG",
|
|
"shhnn%n", "F000000", "Qffffff",
|
|
AP_HAL::micros64(),
|
|
(double)wind_dir_abs,
|
|
(double)wind_dir_rel,
|
|
(double)wind_speed_true,
|
|
(double)wind_speed_apparent,
|
|
(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
|