mirror of https://github.com/ArduPilot/ardupilot
586 lines
18 KiB
C++
586 lines
18 KiB
C++
#include "Blimp.h"
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#if LOGGING_ENABLED == ENABLED
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// Code to Write and Read packets from AP_Logger log memory
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// Code to interact with the user to dump or erase logs
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struct PACKED log_FINI {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float Right;
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float Front;
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float Down;
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float Yaw;
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};
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struct PACKED log_FINO {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float Fin1_Amp;
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float Fin1_Off;
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float Fin2_Amp;
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float Fin2_Off;
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float Fin3_Amp;
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float Fin3_Off;
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float Fin4_Amp;
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float Fin4_Off;
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};
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//Write a fin input packet
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void Blimp::Write_FINI(float right, float front, float down, float yaw)
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{
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const struct log_FINI pkt{
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LOG_PACKET_HEADER_INIT(LOG_FINI_MSG),
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time_us : AP_HAL::micros64(),
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Right : right,
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Front : front,
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Down : down,
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Yaw : yaw
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};
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logger.WriteBlock(&pkt, sizeof(pkt));
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}
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//Write a fin output packet
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void Blimp::Write_FINO(float *amp, float *off)
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{
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const struct log_FINO pkt{
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LOG_PACKET_HEADER_INIT(LOG_FINO_MSG),
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time_us : AP_HAL::micros64(),
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Fin1_Amp : amp[0],
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Fin1_Off : off[0],
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Fin2_Amp : amp[1],
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Fin2_Off : off[1],
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Fin3_Amp : amp[2],
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Fin3_Off : off[2],
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Fin4_Amp : amp[3],
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Fin4_Off : off[3],
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};
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logger.WriteBlock(&pkt, sizeof(pkt));
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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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float throttle_in;
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float angle_boost;
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float throttle_out;
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float throttle_hover;
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float desired_alt;
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float inav_alt;
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int32_t baro_alt;
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float desired_rangefinder_alt;
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float rangefinder_alt;
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float terr_alt;
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int16_t target_climb_rate;
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int16_t climb_rate;
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};
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// Write PID packets
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void Blimp::Log_Write_PIDs()
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{
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logger.Write_PID(LOG_PIVN_MSG, pid_vel_xy.get_pid_info_x());
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logger.Write_PID(LOG_PIVE_MSG, pid_vel_xy.get_pid_info_y());
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logger.Write_PID(LOG_PIVD_MSG, pid_vel_z.get_pid_info());
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logger.Write_PID(LOG_PIVY_MSG, pid_vel_yaw.get_pid_info());
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logger.Write_PID(LOG_PIDN_MSG, pid_pos_xy.get_pid_info_x());
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logger.Write_PID(LOG_PIDE_MSG, pid_pos_xy.get_pid_info_y());
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logger.Write_PID(LOG_PIDD_MSG, pid_pos_z.get_pid_info());
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logger.Write_PID(LOG_PIDY_MSG, pid_pos_yaw.get_pid_info());
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}
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// Write an attitude packet
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void Blimp::Log_Write_Attitude()
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{
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}
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// Write an EKF and POS packet
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void Blimp::Log_Write_EKF_POS()
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{
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AP::ahrs_navekf().Log_Write();
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ahrs.Write_AHRS2();
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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sitl.Log_Write_SIMSTATE();
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#endif
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ahrs.Write_POS();
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}
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struct PACKED log_MotBatt {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float lift_max;
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float bat_volt;
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float bat_res;
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float th_limit;
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};
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// Write an rate packet
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void Blimp::Log_Write_MotBatt()
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{
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}
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struct PACKED log_Data_Int16t {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t id;
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int16_t data_value;
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};
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// Write an int16_t data packet
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UNUSED_FUNCTION
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void Blimp::Log_Write_Data(LogDataID id, int16_t value)
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{
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if (should_log(MASK_LOG_ANY)) {
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struct log_Data_Int16t pkt = {
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LOG_PACKET_HEADER_INIT(LOG_DATA_INT16_MSG),
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time_us : AP_HAL::micros64(),
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id : (uint8_t)id,
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data_value : value
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};
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logger.WriteCriticalBlock(&pkt, sizeof(pkt));
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}
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}
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struct PACKED log_Data_UInt16t {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t id;
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uint16_t data_value;
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};
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// Write an uint16_t data packet
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UNUSED_FUNCTION
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void Blimp::Log_Write_Data(LogDataID id, uint16_t value)
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{
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if (should_log(MASK_LOG_ANY)) {
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struct log_Data_UInt16t pkt = {
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LOG_PACKET_HEADER_INIT(LOG_DATA_UINT16_MSG),
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time_us : AP_HAL::micros64(),
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id : (uint8_t)id,
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data_value : value
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};
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logger.WriteCriticalBlock(&pkt, sizeof(pkt));
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}
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}
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struct PACKED log_Data_Int32t {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t id;
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int32_t data_value;
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};
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// Write an int32_t data packet
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void Blimp::Log_Write_Data(LogDataID id, int32_t value)
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{
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if (should_log(MASK_LOG_ANY)) {
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struct log_Data_Int32t pkt = {
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LOG_PACKET_HEADER_INIT(LOG_DATA_INT32_MSG),
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time_us : AP_HAL::micros64(),
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id : (uint8_t)id,
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data_value : value
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};
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logger.WriteCriticalBlock(&pkt, sizeof(pkt));
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}
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}
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struct PACKED log_Data_UInt32t {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t id;
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uint32_t data_value;
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};
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// Write a uint32_t data packet
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void Blimp::Log_Write_Data(LogDataID id, uint32_t value)
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{
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if (should_log(MASK_LOG_ANY)) {
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struct log_Data_UInt32t pkt = {
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LOG_PACKET_HEADER_INIT(LOG_DATA_UINT32_MSG),
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time_us : AP_HAL::micros64(),
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id : (uint8_t)id,
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data_value : value
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};
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logger.WriteCriticalBlock(&pkt, sizeof(pkt));
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}
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}
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struct PACKED log_Data_Float {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t id;
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float data_value;
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};
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// Write a float data packet
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UNUSED_FUNCTION
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void Blimp::Log_Write_Data(LogDataID id, float value)
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{
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if (should_log(MASK_LOG_ANY)) {
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struct log_Data_Float pkt = {
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LOG_PACKET_HEADER_INIT(LOG_DATA_FLOAT_MSG),
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time_us : AP_HAL::micros64(),
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id : (uint8_t)id,
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data_value : value
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};
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logger.WriteCriticalBlock(&pkt, sizeof(pkt));
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}
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}
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struct PACKED log_ParameterTuning {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t parameter; // parameter we are tuning, e.g. 39 is CH6_CIRCLE_RATE
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float tuning_value; // normalized value used inside tuning() function
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float tuning_min; // tuning minimum value
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float tuning_max; // tuning maximum value
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};
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void Blimp::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max)
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{
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struct log_ParameterTuning pkt_tune = {
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LOG_PACKET_HEADER_INIT(LOG_PARAMTUNE_MSG),
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time_us : AP_HAL::micros64(),
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parameter : param,
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tuning_value : tuning_val,
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tuning_min : tune_min,
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tuning_max : tune_max
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};
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logger.WriteBlock(&pkt_tune, sizeof(pkt_tune));
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}
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// logs when baro or compass becomes unhealthy
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void Blimp::Log_Sensor_Health()
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{
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// check baro
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if (sensor_health.baro != barometer.healthy()) {
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sensor_health.baro = barometer.healthy();
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AP::logger().Write_Error(LogErrorSubsystem::BARO,
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(sensor_health.baro ? LogErrorCode::ERROR_RESOLVED : LogErrorCode::UNHEALTHY));
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}
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// check compass
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if (sensor_health.compass != compass.healthy()) {
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sensor_health.compass = compass.healthy();
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AP::logger().Write_Error(LogErrorSubsystem::COMPASS, (sensor_health.compass ? LogErrorCode::ERROR_RESOLVED : LogErrorCode::UNHEALTHY));
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}
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// check primary GPS
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if (sensor_health.primary_gps != gps.primary_sensor()) {
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sensor_health.primary_gps = gps.primary_sensor();
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AP::logger().Write_Event(LogEvent::GPS_PRIMARY_CHANGED);
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}
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}
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struct PACKED log_SysIdD {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float waveform_time;
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float waveform_sample;
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float waveform_freq;
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float angle_x;
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float angle_y;
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float angle_z;
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float accel_x;
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float accel_y;
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float accel_z;
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};
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// Write an rate packet
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void Blimp::Log_Write_SysID_Data(float waveform_time, float waveform_sample, float waveform_freq, float angle_x, float angle_y, float angle_z, float accel_x, float accel_y, float accel_z)
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{
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#if MODE_SYSTEMID_ENABLED == ENABLED
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struct log_SysIdD pkt_sidd = {
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LOG_PACKET_HEADER_INIT(LOG_SYSIDD_MSG),
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time_us : AP_HAL::micros64(),
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waveform_time : waveform_time,
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waveform_sample : waveform_sample,
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waveform_freq : waveform_freq,
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angle_x : angle_x,
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angle_y : angle_y,
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angle_z : angle_z,
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accel_x : accel_x,
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accel_y : accel_y,
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accel_z : accel_z
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};
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logger.WriteBlock(&pkt_sidd, sizeof(pkt_sidd));
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#endif
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}
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struct PACKED log_SysIdS {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t systemID_axis;
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float waveform_magnitude;
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float frequency_start;
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float frequency_stop;
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float time_fade_in;
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float time_const_freq;
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float time_record;
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float time_fade_out;
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};
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// Write an rate packet
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void Blimp::Log_Write_SysID_Setup(uint8_t systemID_axis, float waveform_magnitude, float frequency_start, float frequency_stop, float time_fade_in, float time_const_freq, float time_record, float time_fade_out)
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{
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#if MODE_SYSTEMID_ENABLED == ENABLED
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struct log_SysIdS pkt_sids = {
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LOG_PACKET_HEADER_INIT(LOG_SYSIDS_MSG),
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time_us : AP_HAL::micros64(),
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systemID_axis : systemID_axis,
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waveform_magnitude : waveform_magnitude,
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frequency_start : frequency_start,
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frequency_stop : frequency_stop,
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time_fade_in : time_fade_in,
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time_const_freq : time_const_freq,
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time_record : time_record,
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time_fade_out : time_fade_out
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};
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logger.WriteBlock(&pkt_sids, sizeof(pkt_sids));
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#endif
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}
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// type and unit information can be found in
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// libraries/AP_Logger/Logstructure.h; search for "log_Units" for
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// units and "Format characters" for field type information
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const struct LogStructure Blimp::log_structure[] = {
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LOG_COMMON_STRUCTURES,
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// @LoggerMessage: FINI
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// @Description: Fin input
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// @Field: TimeUS: Time since system startup
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// @Field: R: Right
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// @Field: F: Front
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// @Field: D: Down
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// @Field: Y: Yaw
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{ LOG_FINI_MSG, sizeof(log_FINI),
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"FINI", "Qffff", "TimeUS,R,F,D,Y", "s----", "F----" },
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// @LoggerMessage: FINO
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// @Description: Fin output
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// @Field: TimeUS: Time since system startup
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// @Field: F1A: Fin 1 Amplitude
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// @Field: F1O: Fin 1 Offset
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// @Field: F2A: Fin 2 Amplitude
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// @Field: F2O: Fin 2 Offset
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// @Field: F3A: Fin 3 Amplitude
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// @Field: F3O: Fin 3 Offset
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// @Field: F4A: Fin 4 Amplitude
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// @Field: F4O: Fin 4 Offset
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{ LOG_FINO_MSG, sizeof(log_FINO),
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"FINO", "Qffffffff", "TimeUS,F1A,F1O,F2A,F2O,F3A,F3O,F4A,F4O", "s--------", "F--------" },
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// @LoggerMessage: PIDD,PIVN,PIVE,PIVD,PIVY
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// @Description: Proportional/Integral/Derivative gain values
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// @Field: TimeUS: Time since system startup
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// @Field: Tar: desired value
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// @Field: Act: achieved value
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// @Field: Err: error between target and achieved
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// @Field: P: proportional part of PID
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// @Field: I: integral part of PID
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// @Field: D: derivative part of PID
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// @Field: FF: controller feed-forward portion of response
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// @Field: Dmod: scaler applied to D gain to reduce limit cycling
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// @Field: SRate: slew rate
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// @Field: Limit: 1 if I term is limited due to output saturation
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{ LOG_PIDD_MSG, sizeof(log_PID),
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"PIDD", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS },
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{ LOG_PIVN_MSG, sizeof(log_PID),
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"PIVN", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS },
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{ LOG_PIVE_MSG, sizeof(log_PID),
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"PIVE", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS },
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{ LOG_PIVD_MSG, sizeof(log_PID),
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"PIVD", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS },
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{ LOG_PIVY_MSG, sizeof(log_PID),
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"PIVY", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS },
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// @LoggerMessage: PTUN
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// @Description: Parameter Tuning information
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// @URL: https://ardupilot.org/blimp/docs/tuning.html#in-flight-tuning
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// @Field: TimeUS: Time since system startup
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// @Field: Param: Parameter being tuned
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// @Field: TunVal: Normalized value used inside tuning() function
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// @Field: TunMin: Tuning minimum limit
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// @Field: TunMax: Tuning maximum limit
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{
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LOG_PARAMTUNE_MSG, sizeof(log_ParameterTuning),
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"PTUN", "QBfff", "TimeUS,Param,TunVal,TunMin,TunMax", "s----", "F----"
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},
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// @LoggerMessage: CTUN
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// @Description: Control Tuning information
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// @Field: TimeUS: Time since system startup
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// @Field: ThI: throttle input
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// @Field: ABst: angle boost
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// @Field: ThO: throttle output
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// @Field: ThH: calculated hover throttle
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// @Field: DAlt: desired altitude
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// @Field: Alt: achieved altitude
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// @Field: BAlt: barometric altitude
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// @Field: DSAlt: desired rangefinder altitude
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// @Field: SAlt: achieved rangefinder altitude
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// @Field: TAlt: terrain altitude
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// @Field: DCRt: desired climb rate
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// @Field: CRt: climb rate
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// @LoggerMessage: D16
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// @Description: Generic 16-bit-signed-integer storage
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// @Field: TimeUS: Time since system startup
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// @Field: Id: Data type identifier
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// @Field: Value: Value
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// @LoggerMessage: DU16
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// @Description: Generic 16-bit-unsigned-integer storage
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// @Field: TimeUS: Time since system startup
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// @Field: Id: Data type identifier
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// @Field: Value: Value
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// @LoggerMessage: D32
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// @Description: Generic 32-bit-signed-integer storage
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// @Field: TimeUS: Time since system startup
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// @Field: Id: Data type identifier
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// @Field: Value: Value
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// @LoggerMessage: DFLT
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// @Description: Generic float storage
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// @Field: TimeUS: Time since system startup
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// @Field: Id: Data type identifier
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// @Field: Value: Value
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// @LoggerMessage: DU32
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// @Description: Generic 32-bit-unsigned-integer storage
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// @Field: TimeUS: Time since system startup
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// @Field: Id: Data type identifier
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// @Field: Value: Value
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{
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LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning),
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"CTUN", "Qffffffefffhh", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DSAlt,SAlt,TAlt,DCRt,CRt", "s----mmmmmmnn", "F----00B000BB"
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},
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// @LoggerMessage: MOTB
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// @Description: Battery information
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// @Field: TimeUS: Time since system startup
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// @Field: LiftMax: Maximum motor compensation gain
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// @Field: BatVolt: Ratio betwen detected battery voltage and maximum battery voltage
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// @Field: BatRes: Estimated battery resistance
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// @Field: ThLimit: Throttle limit set due to battery current limitations
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{
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LOG_MOTBATT_MSG, sizeof(log_MotBatt),
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"MOTB", "Qffff", "TimeUS,LiftMax,BatVolt,BatRes,ThLimit", "s-vw-", "F-00-"
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},
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{
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LOG_DATA_INT16_MSG, sizeof(log_Data_Int16t),
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"D16", "QBh", "TimeUS,Id,Value", "s--", "F--"
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},
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{
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LOG_DATA_UINT16_MSG, sizeof(log_Data_UInt16t),
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"DU16", "QBH", "TimeUS,Id,Value", "s--", "F--"
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},
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{
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LOG_DATA_INT32_MSG, sizeof(log_Data_Int32t),
|
|
"D32", "QBi", "TimeUS,Id,Value", "s--", "F--"
|
|
},
|
|
{
|
|
LOG_DATA_UINT32_MSG, sizeof(log_Data_UInt32t),
|
|
"DU32", "QBI", "TimeUS,Id,Value", "s--", "F--"
|
|
},
|
|
{
|
|
LOG_DATA_FLOAT_MSG, sizeof(log_Data_Float),
|
|
"DFLT", "QBf", "TimeUS,Id,Value", "s--", "F--"
|
|
},
|
|
|
|
// @LoggerMessage: SIDD
|
|
// @Description: System ID data
|
|
// @Field: TimeUS: Time since system startup
|
|
// @Field: Time: Time reference for waveform
|
|
// @Field: Targ: Current waveform sample
|
|
// @Field: F: Instantaneous waveform frequency
|
|
// @Field: Gx: Delta angle, X-Axis
|
|
// @Field: Gy: Delta angle, Y-Axis
|
|
// @Field: Gz: Delta angle, Z-Axis
|
|
// @Field: Ax: Delta velocity, X-Axis
|
|
// @Field: Ay: Delta velocity, Y-Axis
|
|
// @Field: Az: Delta velocity, Z-Axis
|
|
|
|
{
|
|
LOG_SYSIDD_MSG, sizeof(log_SysIdD),
|
|
"SIDD", "Qfffffffff", "TimeUS,Time,Targ,F,Gx,Gy,Gz,Ax,Ay,Az", "ss-zkkkooo", "F---------"
|
|
},
|
|
|
|
// @LoggerMessage: SIDS
|
|
// @Description: System ID settings
|
|
// @Field: TimeUS: Time since system startup
|
|
// @Field: Ax: The axis which is being excited
|
|
// @Field: Mag: Magnitude of the chirp waveform
|
|
// @Field: FSt: Frequency at the start of chirp
|
|
// @Field: FSp: Frequency at the end of chirp
|
|
// @Field: TFin: Time to reach maximum amplitude of chirp
|
|
// @Field: TC: Time at constant frequency before chirp starts
|
|
// @Field: TR: Time taken to complete chirp waveform
|
|
// @Field: TFout: Time to reach zero amplitude after chirp finishes
|
|
|
|
{
|
|
LOG_SYSIDS_MSG, sizeof(log_SysIdS),
|
|
"SIDS", "QBfffffff", "TimeUS,Ax,Mag,FSt,FSp,TFin,TC,TR,TFout", "s--ssssss", "F--------"
|
|
},
|
|
|
|
// // @LoggerMessage: GUID
|
|
// // @Description: Guided mode target information
|
|
// // @Field: TimeUS: Time since system startup
|
|
// // @Field: Type: Type of guided mode
|
|
// // @Field: pX: Target position, X-Axis
|
|
// // @Field: pY: Target position, Y-Axis
|
|
// // @Field: pZ: Target position, Z-Axis
|
|
// // @Field: vX: Target velocity, X-Axis
|
|
// // @Field: vY: Target velocity, Y-Axis
|
|
// // @Field: vZ: Target velocity, Z-Axis
|
|
|
|
// { LOG_GUIDEDTARGET_MSG, sizeof(log_GuidedTarget),
|
|
// "GUID", "QBffffff", "TimeUS,Type,pX,pY,pZ,vX,vY,vZ", "s-mmmnnn", "F-BBBBBB" },
|
|
};
|
|
|
|
void Blimp::Log_Write_Vehicle_Startup_Messages()
|
|
{
|
|
// only 200(?) bytes are guaranteed by AP_Logger
|
|
logger.Write_MessageF("Frame: %s", get_frame_string());
|
|
logger.Write_Mode((uint8_t)control_mode, control_mode_reason);
|
|
ahrs.Log_Write_Home_And_Origin();
|
|
gps.Write_AP_Logger_Log_Startup_messages();
|
|
}
|
|
|
|
void Blimp::log_init(void)
|
|
{
|
|
logger.Init(log_structure, ARRAY_SIZE(log_structure));
|
|
}
|
|
|
|
#else // LOGGING_ENABLED
|
|
|
|
void Blimp::Log_Write_Performance() {}
|
|
void Blimp::Log_Write_Attitude(void) {}
|
|
void Blimp::Log_Write_PIDs(void) {}
|
|
void Blimp::Log_Write_EKF_POS() {}
|
|
void Blimp::Log_Write_MotBatt() {}
|
|
void Blimp::Log_Write_Data(LogDataID id, int32_t value) {}
|
|
void Blimp::Log_Write_Data(LogDataID id, uint32_t value) {}
|
|
void Blimp::Log_Write_Data(LogDataID id, int16_t value) {}
|
|
void Blimp::Log_Write_Data(LogDataID id, uint16_t value) {}
|
|
void Blimp::Log_Write_Data(LogDataID id, float value) {}
|
|
void Blimp::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max) {}
|
|
void Blimp::Log_Sensor_Health() {}
|
|
void Blimp::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
|
|
void Blimp::Log_Write_SysID_Setup(uint8_t systemID_axis, float waveform_magnitude, float frequency_start, float frequency_stop, float time_fade_in, float time_const_freq, float time_record, float time_fade_out) {}
|
|
void Blimp::Log_Write_SysID_Data(float waveform_time, float waveform_sample, float waveform_freq, float angle_x, float angle_y, float angle_z, float accel_x, float accel_y, float accel_z) {}
|
|
void Blimp::Log_Write_Vehicle_Startup_Messages() {}
|
|
|
|
void Blimp::log_init(void) {}
|
|
|
|
#endif // LOGGING_ENABLED
|