mirror of https://github.com/ArduPilot/ardupilot
590 lines
17 KiB
C++
590 lines
17 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Plane.h"
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#if LOGGING_ENABLED == ENABLED
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#if CLI_ENABLED == ENABLED
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// Code to Write and Read packets from DataFlash.log memory
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// Code to interact with the user to dump or erase logs
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// Creates a constant array of structs representing menu options
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// and stores them in Flash memory, not RAM.
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// User enters the string in the console to call the functions on the right.
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// See class Menu in AP_Coommon for implementation details
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static const struct Menu::command log_menu_commands[] PROGMEM = {
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{"dump", MENU_FUNC(dump_log)},
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{"erase", MENU_FUNC(erase_logs)},
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{"enable", MENU_FUNC(select_logs)},
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{"disable", MENU_FUNC(select_logs)}
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};
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// A Macro to create the Menu
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MENU2(log_menu, "Log", log_menu_commands, FUNCTOR_BIND(&plane, &Plane::print_log_menu, bool));
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bool Plane::print_log_menu(void)
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{
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cliSerial->println_P(PSTR("logs enabled: "));
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if (0 == g.log_bitmask) {
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cliSerial->println_P(PSTR("none"));
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}else{
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// Macro to make the following code a bit easier on the eye.
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// Pass it the capitalised name of the log option, as defined
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// in defines.h but without the LOG_ prefix. It will check for
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// the bit being set and print the name of the log option to suit.
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#define PLOG(_s) if (g.log_bitmask & MASK_LOG_ ## _s) cliSerial->printf_P(PSTR(" %S"), PSTR(# _s))
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PLOG(ATTITUDE_FAST);
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PLOG(ATTITUDE_MED);
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PLOG(GPS);
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PLOG(PM);
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PLOG(CTUN);
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PLOG(NTUN);
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PLOG(MODE);
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PLOG(IMU);
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PLOG(CMD);
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PLOG(CURRENT);
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PLOG(COMPASS);
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PLOG(TECS);
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PLOG(CAMERA);
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PLOG(RC);
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PLOG(SONAR);
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#undef PLOG
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}
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cliSerial->println();
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DataFlash.ListAvailableLogs(cliSerial);
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return(true);
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}
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int8_t Plane::dump_log(uint8_t argc, const Menu::arg *argv)
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{
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int16_t dump_log_num;
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uint16_t dump_log_start;
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uint16_t dump_log_end;
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uint16_t last_log_num;
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// check that the requested log number can be read
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dump_log_num = argv[1].i;
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last_log_num = DataFlash.find_last_log();
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if (dump_log_num == -2) {
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DataFlash.DumpPageInfo(cliSerial);
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return(-1);
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} else if (dump_log_num <= 0) {
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cliSerial->printf_P(PSTR("dumping all\n"));
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Log_Read(0, 1, 0);
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return(-1);
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} else if ((argc != 2)
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|| ((uint16_t)dump_log_num > last_log_num))
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{
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cliSerial->printf_P(PSTR("bad log number\n"));
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return(-1);
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}
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DataFlash.get_log_boundaries(dump_log_num, dump_log_start, dump_log_end);
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Log_Read((uint16_t)dump_log_num, dump_log_start, dump_log_end);
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return 0;
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}
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int8_t Plane::erase_logs(uint8_t argc, const Menu::arg *argv)
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{
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in_mavlink_delay = true;
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do_erase_logs();
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in_mavlink_delay = false;
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return 0;
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}
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int8_t Plane::select_logs(uint8_t argc, const Menu::arg *argv)
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{
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uint32_t bits;
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if (argc != 2) {
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cliSerial->printf_P(PSTR("missing log type\n"));
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return(-1);
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}
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bits = 0;
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// Macro to make the following code a bit easier on the eye.
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// Pass it the capitalised name of the log option, as defined
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// in defines.h but without the LOG_ prefix. It will check for
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// that name as the argument to the command, and set the bit in
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// bits accordingly.
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//
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if (!strcasecmp_P(argv[1].str, PSTR("all"))) {
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bits = 0xFFFFFFFFUL;
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} else {
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#define TARG(_s) if (!strcasecmp_P(argv[1].str, PSTR(# _s))) bits |= MASK_LOG_ ## _s
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TARG(ATTITUDE_FAST);
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TARG(ATTITUDE_MED);
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TARG(GPS);
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TARG(PM);
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TARG(CTUN);
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TARG(NTUN);
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TARG(MODE);
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TARG(IMU);
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TARG(CMD);
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TARG(CURRENT);
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TARG(COMPASS);
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TARG(TECS);
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TARG(CAMERA);
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TARG(RC);
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TARG(SONAR);
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#undef TARG
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}
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if (!strcasecmp_P(argv[0].str, PSTR("enable"))) {
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g.log_bitmask.set_and_save(g.log_bitmask | bits);
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}else{
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g.log_bitmask.set_and_save(g.log_bitmask & ~bits);
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}
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return(0);
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}
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int8_t Plane::process_logs(uint8_t argc, const Menu::arg *argv)
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{
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log_menu.run();
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return 0;
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}
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#endif // CLI_ENABLED == ENABLED
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void Plane::do_erase_logs(void)
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{
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gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Erasing logs"));
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DataFlash.EraseAll();
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gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Log erase complete"));
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}
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// Write an attitude packet
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void Plane::Log_Write_Attitude(void)
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{
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Vector3f targets; // Package up the targets into a vector for commonality with Copter usage of Log_Wrote_Attitude
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targets.x = nav_roll_cd;
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targets.y = nav_pitch_cd;
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targets.z = 0; //Plane does not have the concept of navyaw. This is a placeholder.
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DataFlash.Log_Write_Attitude(ahrs, targets);
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#if HAL_CPU_CLASS > HAL_CPU_CLASS_16
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DataFlash.Log_Write_PID(LOG_PIDR_MSG, rollController.get_pid_info());
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DataFlash.Log_Write_PID(LOG_PIDP_MSG, pitchController.get_pid_info());
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DataFlash.Log_Write_PID(LOG_PIDY_MSG, yawController.get_pid_info());
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DataFlash.Log_Write_PID(LOG_PIDS_MSG, steerController.get_pid_info());
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#endif
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#if AP_AHRS_NAVEKF_AVAILABLE
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#if OPTFLOW == ENABLED
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DataFlash.Log_Write_EKF(ahrs,optflow.enabled());
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#else
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DataFlash.Log_Write_EKF(ahrs,false);
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#endif
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DataFlash.Log_Write_AHRS2(ahrs);
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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sitl.Log_Write_SIMSTATE(DataFlash);
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#endif
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DataFlash.Log_Write_POS(ahrs);
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}
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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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};
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// Write a performance monitoring packet. Total length : 19 bytes
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void Plane::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 : hal.scheduler->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: hal.i2c->lockup_count(),
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ins_error_count : ins.error_count()
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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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 Plane::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 : hal.scheduler->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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// write all commands to the dataflash as well
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if (should_log(MASK_LOG_CMD)) {
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DataFlash.Log_Write_EntireMission(mission);
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}
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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 nav_roll_cd;
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int16_t roll;
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int16_t nav_pitch_cd;
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int16_t pitch;
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int16_t throttle_out;
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int16_t rudder_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 Plane::Log_Write_Control_Tuning()
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{
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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 : hal.scheduler->micros64(),
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nav_roll_cd : (int16_t)nav_roll_cd,
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roll : (int16_t)ahrs.roll_sensor,
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nav_pitch_cd : (int16_t)nav_pitch_cd,
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pitch : (int16_t)ahrs.pitch_sensor,
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throttle_out : (int16_t)channel_throttle->servo_out,
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rudder_out : (int16_t)channel_rudder->servo_out,
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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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// Write a TECS tuning packet
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void Plane::Log_Write_TECS_Tuning(void)
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{
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SpdHgt_Controller->log_data(DataFlash, LOG_TECS_MSG);
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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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int16_t target_bearing_cd;
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int16_t nav_bearing_cd;
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int16_t altitude_error_cm;
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int16_t airspeed_cm;
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float altitude;
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uint32_t groundspeed_cm;
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};
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// Write a navigation tuning packe
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void Plane::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 : hal.scheduler->micros64(),
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yaw : (uint16_t)ahrs.yaw_sensor,
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wp_distance : auto_state.wp_distance,
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target_bearing_cd : (int16_t)nav_controller->target_bearing_cd(),
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nav_bearing_cd : (int16_t)nav_controller->nav_bearing_cd(),
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altitude_error_cm : (int16_t)altitude_error_cm,
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airspeed_cm : (int16_t)airspeed.get_airspeed_cm(),
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altitude : barometer.get_altitude(),
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groundspeed_cm : (uint32_t)(gps.ground_speed()*100)
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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struct PACKED log_Status {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t is_flying;
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float is_flying_probability;
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uint8_t armed;
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uint8_t safety;
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bool is_crashed;
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bool is_still;
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};
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void Plane::Log_Write_Status()
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{
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struct log_Status pkt = {
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LOG_PACKET_HEADER_INIT(LOG_STATUS_MSG)
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,time_us : hal.scheduler->micros64()
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,is_flying : is_flying()
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,is_flying_probability : isFlyingProbability
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,armed : hal.util->get_soft_armed()
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,safety : hal.util->safety_switch_state()
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,is_crashed : crash_state.is_crashed
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,is_still : plane.ins.is_still()
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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struct PACKED log_Sonar {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint16_t distance;
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float voltage;
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float baro_alt;
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float groundspeed;
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uint8_t throttle;
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uint8_t count;
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float correction;
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};
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// Write a sonar packet
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void Plane::Log_Write_Sonar()
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{
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#if RANGEFINDER_ENABLED == ENABLED
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uint16_t distance = 0;
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if (rangefinder.status() == RangeFinder::RangeFinder_Good) {
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distance = rangefinder.distance_cm();
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}
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struct log_Sonar pkt = {
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LOG_PACKET_HEADER_INIT(LOG_SONAR_MSG),
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time_us : hal.scheduler->micros64(),
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distance : distance,
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voltage : rangefinder.voltage_mv()*0.001f,
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baro_alt : barometer.get_altitude(),
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groundspeed : gps.ground_speed(),
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throttle : (uint8_t)(100 * channel_throttle->norm_output()),
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count : rangefinder_state.in_range_count,
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correction : rangefinder_state.correction
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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#endif
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}
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struct PACKED log_Optflow {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t surface_quality;
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float flow_x;
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float flow_y;
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float body_x;
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float body_y;
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};
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#if OPTFLOW == ENABLED
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// Write an optical flow packet
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void Plane::Log_Write_Optflow()
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{
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// exit immediately if not enabled
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if (!optflow.enabled()) {
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return;
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}
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const Vector2f &flowRate = optflow.flowRate();
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const Vector2f &bodyRate = optflow.bodyRate();
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struct log_Optflow pkt = {
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LOG_PACKET_HEADER_INIT(LOG_OPTFLOW_MSG),
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time_us : hal.scheduler->micros64(),
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surface_quality : optflow.quality(),
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flow_x : flowRate.x,
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flow_y : flowRate.y,
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body_x : bodyRate.x,
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body_y : bodyRate.y
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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#endif
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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 Plane::Log_Write_Current()
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{
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DataFlash.Log_Write_Current(battery, channel_throttle->control_in);
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// also write power status
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DataFlash.Log_Write_Power();
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}
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void Plane::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 : hal.scheduler->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 Plane::Log_Write_GPS(uint8_t instance)
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{
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DataFlash.Log_Write_GPS(gps, instance, current_loc.alt - ahrs.get_home().alt);
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}
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void Plane::Log_Write_IMU()
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{
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DataFlash.Log_Write_IMU(ins);
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}
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void Plane::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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}
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void Plane::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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// Write a AIRSPEED packet
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void Plane::Log_Write_Airspeed(void)
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{
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DataFlash.Log_Write_Airspeed(airspeed);
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}
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// log ahrs home and EKF origin to dataflash
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void Plane::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_NavEKF_const().getOriginLLH(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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static const struct LogStructure log_structure[] PROGMEM = {
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LOG_COMMON_STRUCTURES,
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{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
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"PM", "QIHIhhhBH", "TimeUS,LTime,MLC,gDt,GDx,GDy,GDz,I2CErr,INSErr" },
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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", "Qcccchhf", "TimeUS,NavRoll,Roll,NavPitch,Pitch,ThrOut,RdrOut,AccY" },
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{ LOG_NTUN_MSG, sizeof(log_Nav_Tuning),
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"NTUN", "QCfccccfI", "TimeUS,Yaw,WpDist,TargBrg,NavBrg,AltErr,Arspd,Alt,GSpdCM" },
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{ LOG_SONAR_MSG, sizeof(log_Sonar),
|
|
"SONR", "QHfffBBf", "TimeUS,DistCM,Volt,BaroAlt,GSpd,Thr,Cnt,Corr" },
|
|
{ LOG_ARM_DISARM_MSG, sizeof(log_Arm_Disarm),
|
|
"ARM", "QBH", "TimeUS,ArmState,ArmChecks" },
|
|
{ LOG_ATRP_MSG, sizeof(AP_AutoTune::log_ATRP),
|
|
"ATRP", "QBBcfff", "TimeUS,Type,State,Servo,Demanded,Achieved,P" },
|
|
{ LOG_STATUS_MSG, sizeof(log_Status),
|
|
"STAT", "QBfBBBB", "TimeUS,isFlying,isFlyProb,Armed,Safety,Crash,Still" },
|
|
#if OPTFLOW == ENABLED
|
|
{ LOG_OPTFLOW_MSG, sizeof(log_Optflow),
|
|
"OF", "QBffff", "TimeUS,Qual,flowX,flowY,bodyX,bodyY" },
|
|
#endif
|
|
TECS_LOG_FORMAT(LOG_TECS_MSG)
|
|
};
|
|
|
|
#if CLI_ENABLED == ENABLED
|
|
// Read the DataFlash.log memory : Packet Parser
|
|
void Plane::Log_Read(uint16_t log_num, int16_t start_page, int16_t end_page)
|
|
{
|
|
cliSerial->printf_P(PSTR("\n" FIRMWARE_STRING
|
|
"\nFree RAM: %u\n"),
|
|
(unsigned)hal.util->available_memory());
|
|
|
|
cliSerial->println_P(PSTR(HAL_BOARD_NAME));
|
|
|
|
DataFlash.LogReadProcess(log_num, start_page, end_page,
|
|
FUNCTOR_BIND_MEMBER(&Plane::print_flight_mode, void, AP_HAL::BetterStream *, uint8_t),
|
|
cliSerial);
|
|
}
|
|
#endif // CLI_ENABLED
|
|
|
|
// start a new log
|
|
void Plane::start_logging()
|
|
{
|
|
DataFlash.StartNewLog();
|
|
|
|
DataFlash.Log_Write_SysInfo(PSTR(FIRMWARE_STRING));
|
|
|
|
Log_Write_Startup(TYPE_GROUNDSTART_MSG);
|
|
}
|
|
|
|
/*
|
|
initialise logging subsystem
|
|
*/
|
|
void Plane::log_init(void)
|
|
{
|
|
DataFlash.Init(log_structure, ARRAY_SIZE(log_structure));
|
|
if (!DataFlash.CardInserted()) {
|
|
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("No dataflash card inserted"));
|
|
g.log_bitmask.set(0);
|
|
} else if (DataFlash.NeedErase()) {
|
|
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("ERASING LOGS"));
|
|
do_erase_logs();
|
|
for (uint8_t i=0; i<num_gcs; i++) {
|
|
gcs[i].reset_cli_timeout();
|
|
}
|
|
}
|
|
arming.set_logging_available(DataFlash.CardInserted());
|
|
}
|
|
|
|
#else // LOGGING_ENABLED
|
|
|
|
#if CLI_ENABLED == ENABLED
|
|
bool Plane::print_log_menu(void) { return true; }
|
|
int8_t Plane::dump_log(uint8_t argc, const Menu::arg *argv) { return 0; }
|
|
int8_t Plane::erase_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
|
|
int8_t Plane::select_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
|
|
int8_t Plane::process_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
|
|
#endif // CLI_ENABLED == ENABLED
|
|
|
|
void Plane::do_erase_logs(void) {}
|
|
void Plane::Log_Write_Attitude(void) {}
|
|
void Plane::Log_Write_Performance() {}
|
|
void Plane::Log_Write_Startup(uint8_t type) {}
|
|
void Plane::Log_Write_Control_Tuning() {}
|
|
void Plane::Log_Write_TECS_Tuning(void) {}
|
|
void Plane::Log_Write_Nav_Tuning() {}
|
|
void Plane::Log_Write_Status() {}
|
|
void Plane::Log_Write_Sonar() {}
|
|
|
|
#if OPTFLOW == ENABLED
|
|
void Plane::Log_Write_Optflow() {}
|
|
#endif
|
|
|
|
void Plane::Log_Write_Current() {}
|
|
void Plane::Log_Arm_Disarm() {}
|
|
void Plane::Log_Write_GPS(uint8_t instance) {}
|
|
void Plane::Log_Write_IMU() {}
|
|
void Plane::Log_Write_RC(void) {}
|
|
void Plane::Log_Write_Baro(void) {}
|
|
void Plane::Log_Write_Airspeed(void) {}
|
|
void Plane::Log_Write_Home_And_Origin() {}
|
|
|
|
#if CLI_ENABLED == ENABLED
|
|
void Plane::Log_Read(uint16_t log_num, int16_t start_page, int16_t end_page) {}
|
|
#endif // CLI_ENABLED
|
|
|
|
void Plane::start_logging() {}
|
|
void Plane::log_init(void) {}
|
|
|
|
#endif // LOGGING_ENABLED
|