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ardupilot/ArduCopter/Log.pde

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#if LOGGING_ENABLED == ENABLED
// Code to Write and Read packets from DataFlash log memory
// Code to interact with the user to dump or erase logs
// These are function definitions so the Menu can be constructed before the functions
// are defined below. Order matters to the compiler.
static bool print_log_menu(void);
static int8_t dump_log(uint8_t argc, const Menu::arg *argv);
static int8_t erase_logs(uint8_t argc, const Menu::arg *argv);
static int8_t select_logs(uint8_t argc, const Menu::arg *argv);
// Creates a constant array of structs representing menu options
// and stores them in Flash memory, not RAM.
// User enters the string in the console to call the functions on the right.
// See class Menu in AP_Coommon for implementation details
const struct Menu::command log_menu_commands[] PROGMEM = {
{"dump", dump_log},
{"erase", erase_logs},
{"enable", select_logs},
{"disable", select_logs}
};
// A Macro to create the Menu
MENU2(log_menu, "Log", log_menu_commands, print_log_menu);
static bool
print_log_menu(void)
{
int16_t log_start;
int16_t log_end;
int16_t temp;
int16_t last_log_num = DataFlash.find_last_log();
uint16_t num_logs = DataFlash.get_num_logs();
cliSerial->printf_P(PSTR("logs enabled: "));
if (0 == g.log_bitmask) {
cliSerial->printf_P(PSTR("none"));
}else{
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST) cliSerial->printf_P(PSTR(" ATTITUDE_FAST"));
if (g.log_bitmask & MASK_LOG_ATTITUDE_MED) cliSerial->printf_P(PSTR(" ATTITUDE_MED"));
if (g.log_bitmask & MASK_LOG_GPS) cliSerial->printf_P(PSTR(" GPS"));
if (g.log_bitmask & MASK_LOG_PM) cliSerial->printf_P(PSTR(" PM"));
if (g.log_bitmask & MASK_LOG_CTUN) cliSerial->printf_P(PSTR(" CTUN"));
if (g.log_bitmask & MASK_LOG_NTUN) cliSerial->printf_P(PSTR(" NTUN"));
if (g.log_bitmask & MASK_LOG_IMU) cliSerial->printf_P(PSTR(" IMU"));
if (g.log_bitmask & MASK_LOG_CMD) cliSerial->printf_P(PSTR(" CMD"));
if (g.log_bitmask & MASK_LOG_CURRENT) cliSerial->printf_P(PSTR(" CURRENT"));
if (g.log_bitmask & MASK_LOG_MOTORS) cliSerial->printf_P(PSTR(" MOTORS"));
if (g.log_bitmask & MASK_LOG_OPTFLOW) cliSerial->printf_P(PSTR(" OPTFLOW"));
if (g.log_bitmask & MASK_LOG_PID) cliSerial->printf_P(PSTR(" PID"));
if (g.log_bitmask & MASK_LOG_ITERM) cliSerial->printf_P(PSTR(" ITERM"));
if (g.log_bitmask & MASK_LOG_INAV) cliSerial->printf_P(PSTR(" INAV"));
if (g.log_bitmask & MASK_LOG_CAMERA) cliSerial->printf_P(PSTR(" CAMERA"));
}
cliSerial->println();
if (num_logs == 0) {
cliSerial->printf_P(PSTR("\nNo logs\n\n"));
}else{
cliSerial->printf_P(PSTR("\n%u logs\n"), (unsigned)num_logs);
for(int16_t i=num_logs; i>=1; i--) {
int16_t last_log_start = log_start, last_log_end = log_end;
temp = last_log_num-i+1;
DataFlash.get_log_boundaries(temp, log_start, log_end);
cliSerial->printf_P(PSTR("Log %d, start %d, end %d\n"), (int)temp, (int)log_start, (int)log_end);
if (last_log_start == log_start && last_log_end == log_end) {
// we are printing bogus logs
break;
}
}
cliSerial->println();
}
return(true);
}
static int8_t
dump_log(uint8_t argc, const Menu::arg *argv)
{
int16_t dump_log;
int16_t dump_log_start;
int16_t dump_log_end;
int16_t last_log_num;
// check that the requested log number can be read
dump_log = argv[1].i;
last_log_num = DataFlash.find_last_log();
if (dump_log == -2) {
for(uint16_t count=1; count<=DataFlash.df_NumPages; count++) {
DataFlash.StartRead(count);
cliSerial->printf_P(PSTR("DF page, log file #, log page: %d,\t"), (int)count);
cliSerial->printf_P(PSTR("%d,\t"), (int)DataFlash.GetFileNumber());
cliSerial->printf_P(PSTR("%d\n"), (int)DataFlash.GetFilePage());
}
return(-1);
} else if (dump_log <= 0) {
cliSerial->printf_P(PSTR("dumping all\n"));
Log_Read(1, DataFlash.df_NumPages);
return(-1);
} else if ((argc != 2) || (dump_log <= (last_log_num - DataFlash.get_num_logs())) || (dump_log > last_log_num)) {
cliSerial->printf_P(PSTR("bad log number\n"));
return(-1);
}
DataFlash.get_log_boundaries(dump_log, dump_log_start, dump_log_end);
/*cliSerial->printf_P(PSTR("Dumping Log number %d, start %d, end %d\n"),
* dump_log,
* dump_log_start,
* dump_log_end);
*/
Log_Read(dump_log_start, dump_log_end);
//cliSerial->printf_P(PSTR("Done\n"));
return (0);
}
static void do_erase_logs(void)
{
gcs_send_text_P(SEVERITY_LOW, PSTR("Erasing logs\n"));
DataFlash.EraseAll();
gcs_send_text_P(SEVERITY_LOW, PSTR("Log erase complete\n"));
}
static int8_t
erase_logs(uint8_t argc, const Menu::arg *argv)
{
in_mavlink_delay = true;
do_erase_logs();
in_mavlink_delay = false;
return 0;
}
static int8_t
select_logs(uint8_t argc, const Menu::arg *argv)
{
uint16_t bits;
if (argc != 2) {
cliSerial->printf_P(PSTR("missing log type\n"));
return(-1);
}
bits = 0;
// Macro to make the following code a bit easier on the eye.
// Pass it the capitalised name of the log option, as defined
// in defines.h but without the LOG_ prefix. It will check for
// that name as the argument to the command, and set the bit in
// bits accordingly.
//
if (!strcasecmp_P(argv[1].str, PSTR("all"))) {
bits = ~0;
} else {
#define TARG(_s) if (!strcasecmp_P(argv[1].str, PSTR(# _s))) bits |= MASK_LOG_ ## _s
TARG(ATTITUDE_FAST);
TARG(ATTITUDE_MED);
TARG(GPS);
TARG(PM);
TARG(CTUN);
TARG(NTUN);
TARG(MODE);
TARG(IMU);
TARG(CMD);
TARG(CURRENT);
TARG(MOTORS);
TARG(OPTFLOW);
TARG(PID);
TARG(ITERM);
TARG(INAV);
TARG(CAMERA);
#undef TARG
}
if (!strcasecmp_P(argv[0].str, PSTR("enable"))) {
g.log_bitmask.set_and_save(g.log_bitmask | bits);
}else{
g.log_bitmask.set_and_save(g.log_bitmask & ~bits);
}
return(0);
}
static int8_t
process_logs(uint8_t argc, const Menu::arg *argv)
{
log_menu.run();
return 0;
}
// print_latlon - prints an latitude or longitude value held in an int32_t
// probably this should be moved to AP_Common
void print_latlon(AP_HAL::BetterStream *s, int32_t lat_or_lon)
{
int32_t dec_portion, frac_portion;
int32_t abs_lat_or_lon = labs(lat_or_lon);
// extract decimal portion (special handling of negative numbers to ensure we round towards zero)
dec_portion = abs_lat_or_lon / T7;
// extract fractional portion
frac_portion = abs_lat_or_lon - dec_portion*T7;
// print output including the minus sign
if( lat_or_lon < 0 ) {
s->printf_P(PSTR("-"));
}
s->printf_P(PSTR("%ld.%07ld"),(long)dec_portion,(long)frac_portion);
}
struct log_GPS {
LOG_PACKET_HEADER;
uint32_t gps_time;
uint8_t num_sats;
int32_t latitude;
int32_t longitude;
int32_t rel_altitude;
int32_t altitude;
uint32_t ground_speed;
int32_t ground_course;
};
// Write an GPS packet. Total length : 31 bytes
static void Log_Write_GPS()
{
struct log_GPS pkt = {
LOG_PACKET_HEADER_INIT(LOG_GPS_MSG),
gps_time : g_gps->time,
num_sats : g_gps->num_sats,
latitude : g_gps->latitude,
longitude : g_gps->longitude,
rel_altitude : current_loc.alt,
altitude : g_gps->altitude,
ground_speed : g_gps->ground_speed,
ground_course : g_gps->ground_course
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Read a GPS packet
static void Log_Read_GPS()
{
struct log_GPS pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
// need to fix printf formatting
cliSerial->printf_P(PSTR("GPS, %ld, %u, "),
(long)pkt.gps_time,
(unsigned)pkt.num_sats);
print_latlon(cliSerial, pkt.latitude);
cliSerial->print_P(PSTR(", "));
print_latlon(cliSerial, pkt.longitude);
cliSerial->printf_P(PSTR(", %4.4f, %4.4f, %lu, %ld\n"),
pkt.rel_altitude*0.01,
pkt.altitude*0.01,
(unsigned long)pkt.ground_speed,
(long)pkt.ground_course);
}
struct log_IMU {
LOG_PACKET_HEADER;
Vector3f gyro;
Vector3f accel;
};
// Write an imu accel/gyro packet. Total length : 27 bytes
static void Log_Write_IMU()
{
struct log_IMU pkt = {
LOG_PACKET_HEADER_INIT(LOG_IMU_MSG),
gyro : ins.get_gyro(),
accel : ins.get_accel()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Read a raw accel/gyro packet
static void Log_Read_IMU()
{
struct log_IMU pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
// 1 2 3 4 5 6
cliSerial->printf_P(PSTR("IMU, %4.4f, %4.4f, %4.4f, %4.4f, %4.4f, %4.4f\n"),
(float)pkt.gyro.x,
(float)pkt.gyro.y,
(float)pkt.gyro.z,
(float)pkt.accel.x,
(float)pkt.accel.y,
(float)pkt.accel.z);
}
struct log_Current {
LOG_PACKET_HEADER;
int16_t throttle_in;
uint32_t throttle_integrator;
int16_t battery_voltage;
int16_t current_amps;
int16_t current_total;
};
// Write an Current data packet. Total length : 16 bytes
static void Log_Write_Current()
{
struct log_Current pkt = {
LOG_PACKET_HEADER_INIT(LOG_CURRENT_MSG),
throttle_in : g.rc_3.control_in,
throttle_integrator : throttle_integrator,
battery_voltage : (int16_t) (battery_voltage1 * 100.0f),
current_amps : (int16_t) (current_amps1 * 100.0f),
current_total : (int16_t) current_total1
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Read a Current packet
static void Log_Read_Current()
{
struct log_Current pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
// 1 2 3 4 5
cliSerial->printf_P(PSTR("CURRENT, %d, %lu, %4.4f, %4.4f, %d\n"),
(int)pkt.throttle_in,
(unsigned long)pkt.throttle_integrator,
(float)pkt.battery_voltage/100.0f,
(float)pkt.current_amps/100.0f,
(int)pkt.current_total);
}
struct log_Motors {
LOG_PACKET_HEADER;
#if FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME
int16_t motor_out[8];
#elif FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME
int16_t motor_out[6];
#elif FRAME_CONFIG == HELI_FRAME
int16_t motor_out[4];
int16_t ext_gyro_gain;
#else // quads & TRI_FRAME
int16_t motor_out[4];
#endif
};
// Write an Motors packet. Total length : 12 ~ 20 bytes
static void Log_Write_Motors()
{
struct log_Motors pkt = {
LOG_PACKET_HEADER_INIT(LOG_MOTORS_MSG),
#if FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME
motor_out : {motors.motor_out[AP_MOTORS_MOT_1],
motors.motor_out[AP_MOTORS_MOT_2],
motors.motor_out[AP_MOTORS_MOT_3],
motors.motor_out[AP_MOTORS_MOT_4],
motors.motor_out[AP_MOTORS_MOT_5],
motors.motor_out[AP_MOTORS_MOT_6],
motors.motor_out[AP_MOTORS_MOT_7],
motors.motor_out[AP_MOTORS_MOT_8]}
#elif FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME
motor_out : {motors.motor_out[AP_MOTORS_MOT_1],
motors.motor_out[AP_MOTORS_MOT_2],
motors.motor_out[AP_MOTORS_MOT_3],
motors.motor_out[AP_MOTORS_MOT_4],
motors.motor_out[AP_MOTORS_MOT_5],
motors.motor_out[AP_MOTORS_MOT_6]}
#elif FRAME_CONFIG == HELI_FRAME
motor_out : {motors.motor_out[AP_MOTORS_MOT_1],
motors.motor_out[AP_MOTORS_MOT_2],
motors.motor_out[AP_MOTORS_MOT_3],
motors.motor_out[AP_MOTORS_MOT_4]},
ext_gyro_gain : motors.ext_gyro_gain
#elif FRAME_CONFIG == TRI_FRAME
motor_out : {motors.motor_out[AP_MOTORS_MOT_1],
motors.motor_out[AP_MOTORS_MOT_2],
motors.motor_out[AP_MOTORS_MOT_4],
motors.motor_out[g.rc_4.radio_out]}
#else // QUAD frame
motor_out : {motors.motor_out[AP_MOTORS_MOT_1],
motors.motor_out[AP_MOTORS_MOT_2],
motors.motor_out[AP_MOTORS_MOT_3],
motors.motor_out[AP_MOTORS_MOT_4]}
#endif
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Read a Motors packet.
static void Log_Read_Motors()
{
struct log_Motors pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
#if FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME
// 1 2 3 4 5 6 7 8
cliSerial->printf_P(PSTR("MOT, %d, %d, %d, %d, %d, %d, %d, %d\n"),
(int)pkt.motor_out[0],
(int)pkt.motor_out[1],
(int)pkt.motor_out[2],
(int)pkt.motor_out[3],
(int)pkt.motor_out[4],
(int)pkt.motor_out[5],
(int)pkt.motor_out[6],
(int)pkt.motor_out[7]);
#elif FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME
// 1 2 3 4 5 6
cliSerial->printf_P(PSTR("MOT, %d, %d, %d, %d, %d, %d\n"),
(int)pkt.motor_out[0],
(int)pkt.motor_out[1],
(int)pkt.motor_out[2],
(int)pkt.motor_out[3],
(int)pkt.motor_out[4],
(int)pkt.motor_out[5]);
#elif FRAME_CONFIG == HELI_FRAME
// 1 2 3 4 5
cliSerial->printf_P(PSTR("MOT, %d, %d, %d, %d, %d\n"),
(int)pkt.motor_out[0],
(int)pkt.motor_out[1],
(int)pkt.motor_out[2],
(int)pkt.motor_out[3],
(int)pkt.ext_gyro_gain);
#else // TRI_FRAME or QUAD_FRAME
// 1 2 3 4
cliSerial->printf_P(PSTR("MOT, %d, %d, %d, %d\n"),
(int)pkt.motor_out[0],
(int)pkt.motor_out[1],
(int)pkt.motor_out[2],
(int)pkt.motor_out[3]);
#endif
}
struct log_Optflow {
LOG_PACKET_HEADER;
int16_t dx;
int16_t dy;
uint8_t surface_quality;
int16_t x_cm;
int16_t y_cm;
float latitude;
float longitude;
int32_t roll;
int32_t pitch;
};
// Write an optical flow packet. Total length : 30 bytes
static void Log_Write_Optflow()
{
#if OPTFLOW == ENABLED
struct log_Optflow pkt = {
LOG_PACKET_HEADER_INIT(LOG_OPTFLOW_MSG),
dx : optflow.dx,
dy : optflow.dx,
surface_quality : optflow.surface_quality,
x_cm : (int16_t) optflow.x_cm,
y_cm : (int16_t) optflow.y_cm,
latitude : optflow.vlat,
longitude : optflow.vlon,
roll : of_roll,
pitch : of_pitch
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
#endif // OPTFLOW == ENABLED
}
// Read an optical flow packet.
static void Log_Read_Optflow()
{
struct log_Optflow pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
// 1 2 3 4 5 6 7 8 9
cliSerial->printf_P(PSTR("OF, %d, %d, %d, %d, %d, %4.7f, %4.7f, %ld, %ld\n"),
(int)pkt.dx,
(int)pkt.dy,
(int)pkt.surface_quality,
(int)pkt.x_cm,
(int)pkt.y_cm,
(float)pkt.latitude,
(float)pkt.longitude,
(long)pkt.roll,
(long)pkt.pitch);
}
struct log_Nav_Tuning {
LOG_PACKET_HEADER;
uint32_t wp_distance;
int16_t wp_bearing;
int16_t lat_error;
int16_t lon_error;
int16_t nav_pitch;
int16_t nav_roll;
int16_t lat_speed;
int16_t lon_speed;
};
// Write an Nav Tuning packet. Total length : 24 bytes
static void Log_Write_Nav_Tuning()
{
struct log_Nav_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_NAV_TUNING_MSG),
wp_distance : wp_distance,
wp_bearing : (int16_t) (wp_bearing/100),
lat_error : (int16_t) lat_error,
lon_error : (int16_t) long_error,
nav_pitch : (int16_t) nav_pitch,
nav_roll : (int16_t) nav_roll,
lat_speed : lat_speed,
lon_speed : lon_speed
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Read a Nav Tuning packet.
static void Log_Read_Nav_Tuning()
{
struct log_Nav_Tuning pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
// 1 2 3 4 5 6 7 8
cliSerial->printf_P(PSTR("NTUN, %lu, %d, %d, %d, %d, %d, %d, %d\n"),
(unsigned long)pkt.wp_distance,
(int)pkt.wp_bearing,
(int)pkt.lat_error,
(int)pkt.lon_error,
(int)pkt.nav_pitch,
(int)pkt.nav_roll,
(int)pkt.lat_speed,
(int)pkt.lon_speed
);
}
struct log_Control_Tuning {
LOG_PACKET_HEADER;
int16_t throttle_in;
int16_t sonar_alt;
int16_t baro_alt;
int16_t next_wp_alt;
int16_t nav_throttle;
int16_t angle_boost;
int16_t climb_rate;
int16_t throttle_out;
int16_t desired_climb_rate;
};
// Write a control tuning packet. Total length : 26 bytes
static void Log_Write_Control_Tuning()
{
struct log_Control_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_CONTROL_TUNING_MSG),
throttle_in : g.rc_3.control_in,
sonar_alt : sonar_alt,
baro_alt : (int16_t) baro_alt,
next_wp_alt : (int16_t) next_WP.alt,
nav_throttle : nav_throttle,
angle_boost : angle_boost,
climb_rate : climb_rate,
throttle_out : g.rc_3.servo_out,
desired_climb_rate : desired_climb_rate
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Read an control tuning packet
static void Log_Read_Control_Tuning()
{
struct log_Control_Tuning pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
// 1 2 3 4 5 6 7 8 9
cliSerial->printf_P(PSTR("CTUN, %d, %d, %d, %d, %d, %d, %d, %d, %d\n"),
(int)pkt.throttle_in,
(int)pkt.sonar_alt,
(int)pkt.baro_alt,
(int)pkt.next_wp_alt,
(int)pkt.nav_throttle,
(int)pkt.angle_boost,
(int)pkt.climb_rate,
(int)pkt.throttle_out,
(int)pkt.desired_climb_rate
);
}
struct log_Iterm {
LOG_PACKET_HEADER;
int16_t rate_roll;
int16_t rate_pitch;
int16_t rate_yaw;
int16_t accel_throttle;
int16_t nav_lat;
int16_t nav_lon;
int16_t loiter_rate_lat;
int16_t loiter_rate_lon;
int16_t throttle_cruise;
};
static void Log_Write_Iterm()
{
struct log_Iterm pkt = {
LOG_PACKET_HEADER_INIT(LOG_CONTROL_TUNING_MSG),
rate_roll : (int16_t) g.pid_rate_roll.get_integrator(),
rate_pitch : (int16_t) g.pid_rate_pitch.get_integrator(),
rate_yaw : (int16_t) g.pid_rate_yaw.get_integrator(),
accel_throttle : (int16_t) g.pid_throttle_accel.get_integrator(),
nav_lat : (int16_t) g.pid_nav_lat.get_integrator(),
nav_lon : (int16_t) g.pid_nav_lon.get_integrator(),
loiter_rate_lat : (int16_t) g.pid_loiter_rate_lat.get_integrator(),
loiter_rate_lon : (int16_t) g.pid_loiter_rate_lon.get_integrator(),
throttle_cruise : (int16_t) g.throttle_cruise
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Read an control tuning packet
static void Log_Read_Iterm()
{
struct log_Iterm pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
// 1 2 3 4 5 6 7 8 9
cliSerial->printf_P(PSTR("ITERM, %d, %d, %d, %d, %d, %d, %d, %d, %d\n"),
(int)pkt.rate_roll,
(int)pkt.rate_pitch,
(int)pkt.rate_yaw,
(int)pkt.accel_throttle,
(int)pkt.nav_lat,
(int)pkt.nav_lon,
(int)pkt.loiter_rate_lat,
(int)pkt.loiter_rate_lon,
(int)pkt.throttle_cruise
);
cliSerial->printf_P(PSTR("ITERM, "));
}
struct log_Performance {
LOG_PACKET_HEADER;
uint8_t renorm_count;
uint8_t renorm_blowup;
uint8_t gps_fix_count;
uint16_t num_long_running;
uint16_t num_loops;
uint32_t max_time;
uint8_t end;
};
// Write a performance monitoring packet. Total length : 11 bytes
static void Log_Write_Performance()
{
struct log_Performance pkt = {
LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG),
renorm_count : ahrs.renorm_range_count,
renorm_blowup : ahrs.renorm_blowup_count,
gps_fix_count : gps_fix_count,
num_long_running : perf_info_get_num_long_running(),
num_loops : perf_info_get_num_loops(),
max_time : perf_info_get_max_time()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Read a performance packet
static void Log_Read_Performance()
{
struct log_Performance pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
// 1 2 3 4 5 6
cliSerial->printf_P(PSTR("PM, %u, %u, %u, %u, %u, %lu\n"),
(unsigned)pkt.renorm_count,
(unsigned)pkt.renorm_blowup,
(unsigned)pkt.gps_fix_count,
(unsigned)pkt.num_long_running,
(unsigned)pkt.num_loops,
(unsigned long)pkt.max_time);
}
struct log_Cmd {
LOG_PACKET_HEADER;
uint8_t command_total;
uint8_t command_number;
uint8_t waypoint_id;
uint8_t waypoint_options;
uint8_t waypoint_param1;
int32_t waypoint_altitude;
int32_t waypoint_latitude;
int32_t waypoint_longitude;
};
// Write a command processing packet. Total length : 21 bytes
static void Log_Write_Cmd(uint8_t num, struct Location *wp)
{
struct log_Cmd pkt = {
LOG_PACKET_HEADER_INIT(LOG_CMD_MSG),
command_total : g.command_total,
command_number : num,
waypoint_id : wp->id,
waypoint_options : wp->options,
waypoint_param1 : wp->p1,
waypoint_altitude : wp->alt,
waypoint_latitude : wp->lat,
waypoint_longitude : wp->lng
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Read a command processing packet
static void Log_Read_Cmd()
{
struct log_Cmd pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
// 1 2 3 4 5 6 7 8
cliSerial->printf_P(PSTR( "CMD, %u, %u, %u, %u, %u, %ld, %ld, %ld\n"),
(unsigned)pkt.command_total,
(unsigned)pkt.command_number,
(unsigned)pkt.waypoint_id,
(unsigned)pkt.waypoint_options,
(unsigned)pkt.waypoint_param1,
(long)pkt.waypoint_altitude,
(long)pkt.waypoint_latitude,
(long)pkt.waypoint_longitude);
}
struct log_Attitude {
LOG_PACKET_HEADER;
int16_t roll_in;
int16_t roll;
int16_t pitch_in;
int16_t pitch;
int16_t yaw_in;
uint16_t yaw;
uint16_t nav_yaw;
};
// Write an attitude packet. Total length : 16 bytes
static void Log_Write_Attitude()
{
struct log_Attitude pkt = {
LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG),
roll_in : (int16_t)control_roll,
roll : (int16_t)ahrs.roll_sensor,
pitch_in : (int16_t)control_pitch,
pitch : (int16_t)ahrs.pitch_sensor,
yaw_in : (int16_t)g.rc_4.control_in,
yaw : (uint16_t)ahrs.yaw_sensor,
nav_yaw : (uint16_t)nav_yaw
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Read an attitude packet
static void Log_Read_Attitude()
{
struct log_Attitude pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
// 1 2 3 4 5 6 7
cliSerial->printf_P(PSTR("ATT, %d, %d, %d, %d, %d, %u, %u\n"),
(int)pkt.roll_in,
(int)pkt.roll,
(int)pkt.pitch_in,
(int)pkt.pitch,
(int)pkt.yaw_in,
(unsigned)pkt.yaw,
(unsigned)pkt.nav_yaw);
}
struct log_INAV {
LOG_PACKET_HEADER;
int16_t baro_alt;
int16_t inav_alt;
int16_t baro_climb_rate;
int16_t inav_climb_rate;
float accel_corr_x;
float accel_corr_y;
float accel_corr_z;
float accel_corr_ef_z;
int32_t gps_lat_from_home;
int32_t gps_lon_from_home;
float inav_lat_from_home;
float inav_lon_from_home;
float inav_lat_speed;
float inav_lon_speed;
};
// Write an INAV packet. Total length : 52 Bytes
static void Log_Write_INAV()
{
#if INERTIAL_NAV_XY == ENABLED || INERTIAL_NAV_Z == ENABLED
Vector3f accel_corr = inertial_nav.accel_correction_ef;
struct log_INAV pkt = {
LOG_PACKET_HEADER_INIT(LOG_INAV_MSG),
baro_alt : (int16_t)baro_alt, // 1 barometer altitude
inav_alt : (int16_t)inertial_nav.get_altitude(), // 2 accel + baro filtered altitude
baro_climb_rate : baro_rate, // 3 barometer based climb rate
inav_climb_rate : (int16_t)inertial_nav.get_velocity_z(), // 4 accel + baro based climb rate
accel_corr_x : accel_corr.x, // 5 accel correction x-axis
accel_corr_y : accel_corr.y, // 6 accel correction y-axis
accel_corr_z : accel_corr.z, // 7 accel correction z-axis
accel_corr_ef_z : inertial_nav.accel_correction_ef.z, // 8 accel correction earth frame
gps_lat_from_home : g_gps->latitude-home.lat, // 9 lat from home
gps_lon_from_home : g_gps->longitude-home.lng, // 10 lon from home
inav_lat_from_home : inertial_nav.get_latitude_diff(), // 11 accel based lat from home
inav_lon_from_home : inertial_nav.get_longitude_diff(), // 12 accel based lon from home
inav_lat_speed : inertial_nav.get_latitude_velocity(), // 13 accel based lat velocity
inav_lon_speed : inertial_nav.get_longitude_velocity() // 14 accel based lon velocity
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
#endif
}
// Read an INAV packet
static void Log_Read_INAV()
{
struct log_INAV pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
// 1 2 3 4 5 6 7 8 9 10 11 12 13 14
cliSerial->printf_P(PSTR("INAV, %d, %d, %d, %d, %6.4f, %6.4f, %6.4f, %6.4f, %ld, %ld, %6.4f, %6.4f, %6.4f, %6.4f\n"),
(int)pkt.baro_alt, // 1 barometer altitude
(int)pkt.inav_alt, // 2 accel + baro filtered altitude
(int)pkt.baro_climb_rate, // 3 barometer based climb rate
(int)pkt.inav_climb_rate, // 4 accel + baro based climb rate
(float)pkt.accel_corr_x, // 5 accel correction x-axis
(float)pkt.accel_corr_y, // 6 accel correction y-axis
(float)pkt.accel_corr_z, // 7 accel correction z-axis
(float)pkt.accel_corr_ef_z, // 8 accel correction earth frame
(long)pkt.gps_lat_from_home, // 9 lat from home
(long)pkt.gps_lon_from_home, // 10 lon from home
(float)pkt.inav_lat_from_home, // 11 accel based lat from home
(float)pkt.inav_lon_from_home, // 12 accel based lon from home
(float)pkt.inav_lat_speed, // 13 accel based lat velocity
(float)pkt.inav_lon_speed); // 14 accel based lon velocity
}
struct log_Mode {
LOG_PACKET_HEADER;
uint8_t mode;
int16_t throttle_cruise;
};
// Write a mode packet. Total length : 7 bytes
static void Log_Write_Mode(uint8_t mode)
{
struct log_Mode pkt = {
LOG_PACKET_HEADER_INIT(LOG_MODE_MSG),
mode : mode,
throttle_cruise : g.throttle_cruise,
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Read a mode packet
static void Log_Read_Mode()
{
struct log_Mode pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
cliSerial->printf_P(PSTR("MOD,"));
print_flight_mode(pkt.mode);
cliSerial->printf_P(PSTR(", %d\n"),(int)pkt.throttle_cruise);
}
struct log_Startup {
LOG_PACKET_HEADER;
};
// Write Startup packet. Total length : 4 bytes
static void Log_Write_Startup()
{
DataFlash.WriteByte(LOG_STARTUP_MSG);
struct log_Startup pkt = {
LOG_PACKET_HEADER_INIT(LOG_STARTUP_MSG)
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Read a startup packet
static void Log_Read_Startup()
{
struct log_Startup pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
cliSerial->printf_P(PSTR("START UP\n"));
}
struct log_Event {
LOG_PACKET_HEADER;
uint8_t id;
};
// Wrote an event packet
static void Log_Write_Event(uint8_t id)
{
if (g.log_bitmask != 0) {
struct log_Event pkt = {
LOG_PACKET_HEADER_INIT(LOG_EVENT_MSG),
id : id
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
}
// Read an event packet
static void Log_Read_Event()
{
struct log_Event pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
cliSerial->printf_P(PSTR("EV, %u\n"), (unsigned)pkt.id);
}
struct log_Data_Int16t {
LOG_PACKET_HEADER;
uint8_t id;
int16_t data_value;
};
// Write an int16_t data packet
static void Log_Write_Data(uint8_t id, int16_t value)
{
if (g.log_bitmask != 0) {
struct log_Data_Int16t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_INT16_MSG),
id : id,
data_value : value
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
}
// Read an int16_t data packet
static void Log_Read_Int16t()
{
struct log_Data_Int16t pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
cliSerial->printf_P(PSTR("DATA, %u, %d\n"), (unsigned)pkt.id, (int)pkt.data_value);
}
struct log_Data_UInt16t {
LOG_PACKET_HEADER;
uint8_t id;
uint16_t data_value;
};
// Write an uint16_t data packet
static void Log_Write_Data(uint8_t id, uint16_t value)
{
if (g.log_bitmask != 0) {
struct log_Data_UInt16t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_UINT16_MSG),
id : id,
data_value : value
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
}
// Read an uint16_t data packet
static void Log_Read_UInt16t()
{
struct log_Data_UInt16t pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
cliSerial->printf_P(PSTR("DATA, %u, %u\n"), (unsigned)pkt.id, (unsigned)pkt.data_value);
}
struct log_Data_Int32t {
LOG_PACKET_HEADER;
uint8_t id;
int32_t data_value;
};
// Write an int32_t data packet
static void Log_Write_Data(uint8_t id, int32_t value)
{
if (g.log_bitmask != 0) {
struct log_Data_Int32t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_INT32_MSG),
id : id,
data_value : value
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
}
// Read an int32_t data packet
static void Log_Read_Int32t()
{
struct log_Data_Int32t pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
cliSerial->printf_P(PSTR("DATA, %u, %ld\n"), (unsigned)pkt.id, (long)pkt.data_value);
}
struct log_Data_UInt32t {
LOG_PACKET_HEADER;
uint8_t id;
uint32_t data_value;
};
// Write a uint32_t data packet
static void Log_Write_Data(uint8_t id, uint32_t value)
{
if (g.log_bitmask != 0) {
struct log_Data_UInt32t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_UINT32_MSG),
id : id,
data_value : value
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
}
// Read a uint32_t data packet
static void Log_Read_UInt32t()
{
struct log_Data_UInt32t pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
cliSerial->printf_P(PSTR("DATA, %u, %lu\n"), (unsigned)pkt.id, (unsigned long)pkt.data_value);
}
struct log_Data_Float {
LOG_PACKET_HEADER;
uint8_t id;
float data_value;
};
// Write a float data packet
static void Log_Write_Data(uint8_t id, float value)
{
if (g.log_bitmask != 0) {
struct log_Data_Float pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_FLOAT_MSG),
id : id,
data_value : value
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
}
// Read a float data packet
static void Log_Read_Float()
{
struct log_Data_Float pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
cliSerial->printf_P(PSTR("DATA, %u, %1.6f\n"), (unsigned)pkt.id, (float)pkt.data_value);
}
struct log_PID {
LOG_PACKET_HEADER;
uint8_t id;
int32_t error;
int32_t p;
int32_t i;
int32_t d;
int32_t output;
float gain;
};
// Write an PID packet. Total length : 28 bytes
static void Log_Write_PID(uint8_t pid_id, int32_t error, int32_t p, int32_t i, int32_t d, int32_t output, float gain)
{
struct log_PID pkt = {
LOG_PACKET_HEADER_INIT(LOG_PID_MSG),
id : pid_id,
error : error,
p : p,
i : i,
d : d,
output : output,
gain : gain
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Read a PID packet
static void Log_Read_PID()
{
struct log_PID pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
// 1 2 3 4 5 6 7
cliSerial->printf_P(PSTR("PID-%u, %ld, %ld, %ld, %ld, %ld, %4.4f\n"),
(unsigned)pkt.id,
(long)pkt.error,
(long)pkt.p,
(long)pkt.i,
(long)pkt.d,
(long)pkt.output,
(float)pkt.gain);
}
struct log_DMP {
LOG_PACKET_HEADER;
int16_t dcm_roll;
int16_t dmp_roll;
int16_t dcm_pitch;
int16_t dmp_pitch;
uint16_t dcm_yaw;
uint16_t dmp_yaw;
};
// Write a DMP attitude packet. Total length : 16 bytes
static void Log_Write_DMP()
{
#if SECONDARY_DMP_ENABLED == ENABLED
struct log_DMP pkt = {
LOG_PACKET_HEADER_INIT(LOG_DMP_MSG),
dcm_roll : (int16_t)ahrs.roll_sensor,
dmp_roll : (int16_t)ahrs2.roll_sensor,
dcm_pitch : (int16_t)ahrs.pitch_sensor,
dmp_pitch : (int16_t)ahrs2.pitch_sensor,
dcm_yaw : (uint16_t)ahrs.yaw_sensor,
dmp_yaw : (uint16_t)ahrs2.yaw_sensor
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
#endif
}
// Read a DMP attitude packet
static void Log_Read_DMP()
{
struct log_DMP pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
// 1 2 3 4 5 6
cliSerial->printf_P(PSTR("DMP, %d, %d, %d, %d, %u, %u\n"),
(int)pkt.dcm_roll,
(int)pkt.dmp_roll,
(int)pkt.dcm_pitch,
(int)pkt.dmp_pitch,
(unsigned)pkt.dcm_yaw,
(unsigned)pkt.dmp_yaw);
}
struct log_Camera {
LOG_PACKET_HEADER;
uint32_t gps_time;
int32_t latitude;
int32_t longitude;
int32_t altitude;
int16_t roll;
int16_t pitch;
uint16_t yaw;
};
// Write a Camera packet. Total length : 26 bytes
static void Log_Write_Camera()
{
#if CAMERA == ENABLED
struct log_Camera pkt = {
LOG_PACKET_HEADER_INIT(LOG_CAMERA_MSG),
gps_time : g_gps->time,
latitude : current_loc.lat,
longitude : current_loc.lng,
altitude : current_loc.alt,
roll : (int16_t)ahrs.roll_sensor,
pitch : (int16_t)ahrs.pitch_sensor,
yaw : (uint16_t)ahrs.yaw_sensor
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
#endif
}
// Read a camera packet
static void Log_Read_Camera()
{
struct log_Camera pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
// 1
cliSerial->printf_P(PSTR("CAMERA, %lu, "),(unsigned long)pkt.gps_time); // 1 time
print_latlon(cliSerial, pkt.latitude); // 2 lat
cliSerial->print_P(PSTR(", "));
print_latlon(cliSerial, pkt.longitude); // 3 lon
// 4 5 6 7
cliSerial->printf_P(PSTR(", %ld, %d, %d, %u\n"),
(long)pkt.altitude, // 4 altitude
(int)pkt.roll, // 5 roll in centidegrees
(int)pkt.pitch, // 6 pitch in centidegrees
(unsigned)pkt.yaw); // 7 yaw in centidegrees
}
struct log_Error {
LOG_PACKET_HEADER;
uint8_t sub_system;
uint8_t error_code;
};
// Write an error packet. Total length : 5 bytes
static void Log_Write_Error(uint8_t sub_system, uint8_t error_code)
{
struct log_Error pkt = {
LOG_PACKET_HEADER_INIT(LOG_ERROR_MSG),
sub_system : sub_system,
error_code : error_code,
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Read an error packet
static void Log_Read_Error()
{
struct log_Error pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
cliSerial->print_P(PSTR("ERR, "));
// print subsystem
switch(pkt.sub_system) {
case ERROR_SUBSYSTEM_MAIN:
cliSerial->print_P(PSTR("MAIN"));
break;
case ERROR_SUBSYSTEM_RADIO:
cliSerial->print_P(PSTR("RADIO"));
break;
case ERROR_SUBSYSTEM_COMPASS:
cliSerial->print_P(PSTR("COM"));
break;
case ERROR_SUBSYSTEM_OPTFLOW:
cliSerial->print_P(PSTR("OF"));
break;
case ERROR_SUBSYSTEM_FAILSAFE:
cliSerial->print_P(PSTR("FS"));
break;
default:
// if undefined print subsytem as a number
cliSerial->printf_P(PSTR("%u"),(unsigned)pkt.sub_system);
break;
}
// print error code
cliSerial->printf_P(PSTR(", %u\n"),(unsigned)pkt.error_code);
}
// Read the DataFlash log memory
static void Log_Read(int16_t start_page, int16_t end_page)
{
#ifdef AIRFRAME_NAME
cliSerial->printf_P(PSTR((AIRFRAME_NAME)));
#endif
cliSerial->printf_P(PSTR("\n" THISFIRMWARE
"\nFree RAM: %u\n"),
(unsigned) memcheck_available_memory());
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
cliSerial->printf_P(PSTR("APM 1\n"));
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
cliSerial->printf_P(PSTR("APM 2\n"));
#endif
#if CLI_ENABLED == ENABLED
setup_show(0, NULL);
#endif
DataFlash.log_read_process(start_page, end_page, log_callback);
}
// read one packet from the dataflash
static void log_callback(uint8_t msgid)
{
switch(msgid) {
case LOG_ATTITUDE_MSG:
Log_Read_Attitude();
break;
case LOG_MODE_MSG:
Log_Read_Mode();
break;
case LOG_CONTROL_TUNING_MSG:
Log_Read_Control_Tuning();
break;
case LOG_NAV_TUNING_MSG:
Log_Read_Nav_Tuning();
break;
case LOG_PERFORMANCE_MSG:
Log_Read_Performance();
break;
case LOG_IMU_MSG:
Log_Read_IMU();
break;
case LOG_CMD_MSG:
Log_Read_Cmd();
break;
case LOG_CURRENT_MSG:
Log_Read_Current();
break;
case LOG_STARTUP_MSG:
Log_Read_Startup();
break;
case LOG_MOTORS_MSG:
Log_Read_Motors();
break;
case LOG_OPTFLOW_MSG:
Log_Read_Optflow();
break;
case LOG_GPS_MSG:
Log_Read_GPS();
break;
case LOG_EVENT_MSG:
Log_Read_Event();
break;
case LOG_PID_MSG:
Log_Read_PID();
break;
case LOG_ITERM_MSG:
Log_Read_Iterm();
break;
case LOG_DMP_MSG:
Log_Read_DMP();
break;
case LOG_INAV_MSG:
Log_Read_INAV();
break;
case LOG_CAMERA_MSG:
Log_Read_Camera();
break;
case LOG_ERROR_MSG:
Log_Read_Error();
break;
case LOG_DATA_INT16_MSG:
Log_Read_Int16t();
break;
case LOG_DATA_UINT16_MSG:
Log_Read_UInt16t();
break;
case LOG_DATA_INT32_MSG:
Log_Read_Int32t();
break;
case LOG_DATA_UINT32_MSG:
Log_Read_UInt32t();
break;
case LOG_DATA_FLOAT_MSG:
Log_Read_Float();
break;
}
}
#else // LOGGING_ENABLED
void print_latlon(AP_HAL::BetterStream *s, int32_t lat_or_lon) {}
static void Log_Write_Startup() {}
static void Log_Write_Cmd(uint8_t num, struct Location *wp) {}
static void Log_Write_Mode(uint8_t mode) {}
static void Log_Write_IMU() {}
static void Log_Write_GPS() {}
static void Log_Write_Current() {}
static void Log_Write_Iterm() {}
static void Log_Write_Attitude() {}
static void Log_Write_INAV() {}
static void Log_Write_Data(uint8_t id, int16_t value){}
static void Log_Write_Data(uint8_t id, uint16_t value){}
static void Log_Write_Data(uint8_t id, int32_t value){}
static void Log_Write_Data(uint8_t id, uint32_t value){}
static void Log_Write_Data(uint8_t id, float value){}
static void Log_Write_Event(uint8_t id){}
static void Log_Write_Optflow() {}
static void Log_Write_Nav_Tuning() {}
static void Log_Write_Control_Tuning() {}
static void Log_Write_Motors() {}
static void Log_Write_Performance() {}
static void Log_Write_PID(uint8_t pid_id, int32_t error, int32_t p, int32_t i, int32_t d, int32_t output, float gain) {}
static void Log_Write_DMP() {}
static void Log_Write_Camera() {}
static void Log_Write_Error(uint8_t sub_system, uint8_t error_code) {}
static int8_t process_logs(uint8_t argc, const Menu::arg *argv) {
return 0;
}
#endif // LOGGING_DISABLED
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