ardupilot/AntennaTracker/Log.cpp

116 lines
3.5 KiB
C++

#include "Tracker.h"
#if LOGGING_ENABLED == ENABLED
// Code to Write and Read packets from AP_Logger log memory
// Write an attitude packet
void Tracker::Log_Write_Attitude()
{
Vector3f targets;
targets.y = nav_status.pitch * 100.0f;
targets.z = wrap_360_cd(nav_status.bearing * 100.0f);
ahrs.Write_Attitude(targets);
AP::ahrs().Log_Write();
ahrs.Write_AHRS2();
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
sitl.Log_Write_SIMSTATE();
#endif
ahrs.Write_POS();
}
struct PACKED log_Vehicle_Baro {
LOG_PACKET_HEADER;
uint64_t time_us;
float press;
float alt_diff;
};
// Write a vehicle baro packet
void Tracker::Log_Write_Vehicle_Baro(float pressure, float altitude)
{
struct log_Vehicle_Baro pkt = {
LOG_PACKET_HEADER_INIT(LOG_V_BAR_MSG),
time_us : AP_HAL::micros64(),
press : pressure,
alt_diff : altitude
};
logger.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Vehicle_Pos {
LOG_PACKET_HEADER;
uint64_t time_us;
int32_t vehicle_lat;
int32_t vehicle_lng;
int32_t vehicle_alt;
float vehicle_vel_x;
float vehicle_vel_y;
float vehicle_vel_z;
};
// Write a vehicle pos packet
void Tracker::Log_Write_Vehicle_Pos(int32_t lat, int32_t lng, int32_t alt, const Vector3f& vel)
{
struct log_Vehicle_Pos pkt = {
LOG_PACKET_HEADER_INIT(LOG_V_POS_MSG),
time_us : AP_HAL::micros64(),
vehicle_lat : lat,
vehicle_lng : lng,
vehicle_alt : alt,
vehicle_vel_x : vel.x,
vehicle_vel_y : vel.y,
vehicle_vel_z : vel.z,
};
logger.WriteBlock(&pkt, sizeof(pkt));
}
// @LoggerMessage: VBAR
// @Description: Information received from tracked vehicle; barometer data
// @Field: TimeUS: Time since system startup
// @Field: Press: vehicle barometric pressure
// @Field: AltDiff: altitude difference based on difference on barometric pressure
// @LoggerMessage: VPOS
// @Description: Information received from tracked vehicle; barometer position data
// @Field: TimeUS: Time since system startup
// @Field: Lat: tracked vehicle latitude
// @Field: Lng: tracked vehicle longitude
// @Field: Alt: tracked vehicle altitude
// @Field: VelX: tracked vehicle velocity, latitude component
// @Field: VelY: tracked vehicle velocity, longitude component
// @Field: VelZ: tracked vehicle velocity, vertical component, down
// type and unit information can be found in
// libraries/AP_Logger/Logstructure.h; search for "log_Units" for
// units and "Format characters" for field type information
const struct LogStructure Tracker::log_structure[] = {
LOG_COMMON_STRUCTURES,
{LOG_V_BAR_MSG, sizeof(log_Vehicle_Baro),
"VBAR", "Qff", "TimeUS,Press,AltDiff", "sPm", "F00" },
{LOG_V_POS_MSG, sizeof(log_Vehicle_Pos),
"VPOS", "QLLefff", "TimeUS,Lat,Lng,Alt,VelX,VelY,VelZ", "sddmnnn", "FGGB000" }
};
void Tracker::Log_Write_Vehicle_Startup_Messages()
{
logger.Write_Mode((uint8_t)mode->number(), ModeReason::INITIALISED);
gps.Write_AP_Logger_Log_Startup_messages();
}
void Tracker::log_init(void)
{
logger.Init(log_structure, ARRAY_SIZE(log_structure));
}
#else // LOGGING_ENABLED
void Tracker::Log_Write_Attitude(void) {}
void Tracker::log_init(void) {}
void Tracker::Log_Write_Vehicle_Pos(int32_t lat, int32_t lng, int32_t alt, const Vector3f& vel) {}
void Tracker::Log_Write_Vehicle_Baro(float pressure, float altitude) {}
void Tracker::Log_Write_Vehicle_Startup_Messages() {}
#endif // LOGGING_ENABLED