mirror of https://github.com/ArduPilot/ardupilot
54 lines
1.6 KiB
C++
54 lines
1.6 KiB
C++
#include <AP_Logger/AP_Logger_config.h>
|
|
|
|
#if HAL_LOGGING_ENABLED
|
|
|
|
#include "AP_Baro.h"
|
|
|
|
#include <AP_Logger/AP_Logger.h>
|
|
|
|
void AP_Baro::Write_Baro_instance(uint64_t time_us, uint8_t baro_instance)
|
|
{
|
|
const struct log_BARO pkt{
|
|
LOG_PACKET_HEADER_INIT(LOG_BARO_MSG),
|
|
time_us : time_us,
|
|
instance : baro_instance,
|
|
altitude : get_altitude(baro_instance),
|
|
altitude_AMSL : get_altitude_AMSL(baro_instance),
|
|
pressure : get_pressure(baro_instance),
|
|
temperature : (int16_t)(get_temperature(baro_instance) * 100 + 0.5f),
|
|
climbrate : get_climb_rate(),
|
|
sample_time_ms: get_last_update(baro_instance),
|
|
drift_offset : get_baro_drift_offset(),
|
|
ground_temp : get_ground_temperature(),
|
|
healthy : (uint8_t)healthy(baro_instance),
|
|
};
|
|
AP::logger().WriteBlock(&pkt, sizeof(pkt));
|
|
#if HAL_BARO_WIND_COMP_ENABLED
|
|
if (!sensors[baro_instance].wind_coeff.enable) {
|
|
return;
|
|
}
|
|
|
|
const struct log_BARD pkt2{
|
|
LOG_PACKET_HEADER_INIT(LOG_BARD_MSG),
|
|
time_us : time_us,
|
|
instance : baro_instance,
|
|
dyn_pressure_x: get_dynamic_pressure(baro_instance).x,
|
|
dyn_pressure_y: get_dynamic_pressure(baro_instance).y,
|
|
dyn_pressure_z: get_dynamic_pressure(baro_instance).z,
|
|
};
|
|
AP::logger().WriteBlock(&pkt2, sizeof(pkt2));
|
|
#endif
|
|
}
|
|
|
|
// Write a BARO packet
|
|
void AP_Baro::Write_Baro(void)
|
|
{
|
|
const uint64_t time_us = AP_HAL::micros64();
|
|
|
|
for (uint8_t i=0; i< _num_sensors; i++) {
|
|
Write_Baro_instance(time_us, i);
|
|
}
|
|
}
|
|
|
|
#endif
|