mirror of https://github.com/ArduPilot/ardupilot
558 lines
18 KiB
C++
558 lines
18 KiB
C++
#include "Copter.h"
|
|
|
|
#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
|
|
|
|
#if AUTOTUNE_ENABLED == ENABLED
|
|
struct PACKED log_AutoTune {
|
|
LOG_PACKET_HEADER;
|
|
uint64_t time_us;
|
|
uint8_t axis; // roll or pitch
|
|
uint8_t tune_step; // tuning PI or D up or down
|
|
float meas_target; // target achieved rotation rate
|
|
float meas_min; // maximum achieved rotation rate
|
|
float meas_max; // maximum achieved rotation rate
|
|
float new_gain_rp; // newly calculated gain
|
|
float new_gain_rd; // newly calculated gain
|
|
float new_gain_sp; // newly calculated gain
|
|
float new_ddt; // newly calculated gain
|
|
};
|
|
|
|
// Write an Autotune data packet
|
|
void Copter::ModeAutoTune::Log_Write_AutoTune(uint8_t _axis, uint8_t tune_step, float meas_target, float meas_min, float meas_max, float new_gain_rp, float new_gain_rd, float new_gain_sp, float new_ddt)
|
|
{
|
|
struct log_AutoTune pkt = {
|
|
LOG_PACKET_HEADER_INIT(LOG_AUTOTUNE_MSG),
|
|
time_us : AP_HAL::micros64(),
|
|
axis : _axis,
|
|
tune_step : tune_step,
|
|
meas_target : meas_target,
|
|
meas_min : meas_min,
|
|
meas_max : meas_max,
|
|
new_gain_rp : new_gain_rp,
|
|
new_gain_rd : new_gain_rd,
|
|
new_gain_sp : new_gain_sp,
|
|
new_ddt : new_ddt
|
|
};
|
|
copter.DataFlash.WriteBlock(&pkt, sizeof(pkt));
|
|
}
|
|
|
|
struct PACKED log_AutoTuneDetails {
|
|
LOG_PACKET_HEADER;
|
|
uint64_t time_us;
|
|
float angle_cd; // lean angle in centi-degrees
|
|
float rate_cds; // current rotation rate in centi-degrees / second
|
|
};
|
|
|
|
// Write an Autotune data packet
|
|
void Copter::ModeAutoTune::Log_Write_AutoTuneDetails(float angle_cd, float rate_cds)
|
|
{
|
|
struct log_AutoTuneDetails pkt = {
|
|
LOG_PACKET_HEADER_INIT(LOG_AUTOTUNEDETAILS_MSG),
|
|
time_us : AP_HAL::micros64(),
|
|
angle_cd : angle_cd,
|
|
rate_cds : rate_cds
|
|
};
|
|
copter.DataFlash.WriteBlock(&pkt, sizeof(pkt));
|
|
}
|
|
#endif
|
|
|
|
struct PACKED log_Control_Tuning {
|
|
LOG_PACKET_HEADER;
|
|
uint64_t time_us;
|
|
float throttle_in;
|
|
float angle_boost;
|
|
float throttle_out;
|
|
float throttle_hover;
|
|
float desired_alt;
|
|
float inav_alt;
|
|
int32_t baro_alt;
|
|
float desired_rangefinder_alt;
|
|
int16_t rangefinder_alt;
|
|
float terr_alt;
|
|
int16_t target_climb_rate;
|
|
int16_t climb_rate;
|
|
};
|
|
|
|
// Write a control tuning packet
|
|
void Copter::Log_Write_Control_Tuning()
|
|
{
|
|
// get terrain altitude
|
|
float terr_alt = 0.0f;
|
|
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
|
|
if (!terrain.height_above_terrain(terr_alt, true)) {
|
|
terr_alt = DataFlash.quiet_nan();
|
|
}
|
|
#endif
|
|
float des_alt_m = 0.0f;
|
|
int16_t target_climb_rate_cms = 0;
|
|
if (!flightmode->has_manual_throttle()) {
|
|
des_alt_m = pos_control->get_alt_target() / 100.0f;
|
|
target_climb_rate_cms = pos_control->get_vel_target_z();
|
|
}
|
|
|
|
float _target_rangefinder_alt;
|
|
if (target_rangefinder_alt_used) {
|
|
_target_rangefinder_alt = target_rangefinder_alt * 0.01f; // cm->m
|
|
} else {
|
|
_target_rangefinder_alt = DataFlash.quiet_nan();
|
|
}
|
|
struct log_Control_Tuning pkt = {
|
|
LOG_PACKET_HEADER_INIT(LOG_CONTROL_TUNING_MSG),
|
|
time_us : AP_HAL::micros64(),
|
|
throttle_in : attitude_control->get_throttle_in(),
|
|
angle_boost : attitude_control->angle_boost(),
|
|
throttle_out : motors->get_throttle(),
|
|
throttle_hover : motors->get_throttle_hover(),
|
|
desired_alt : des_alt_m,
|
|
inav_alt : inertial_nav.get_altitude() / 100.0f,
|
|
baro_alt : baro_alt,
|
|
desired_rangefinder_alt : _target_rangefinder_alt,
|
|
rangefinder_alt : rangefinder_state.alt_cm,
|
|
terr_alt : terr_alt,
|
|
target_climb_rate : target_climb_rate_cms,
|
|
climb_rate : climb_rate
|
|
};
|
|
DataFlash.WriteBlock(&pkt, sizeof(pkt));
|
|
}
|
|
|
|
// Write an attitude packet
|
|
void Copter::Log_Write_Attitude()
|
|
{
|
|
Vector3f targets = attitude_control->get_att_target_euler_cd();
|
|
targets.z = wrap_360_cd(targets.z);
|
|
DataFlash.Log_Write_Attitude(ahrs, targets);
|
|
DataFlash.Log_Write_Rate(ahrs, *motors, *attitude_control, *pos_control);
|
|
if (should_log(MASK_LOG_PID)) {
|
|
DataFlash.Log_Write_PID(LOG_PIDR_MSG, attitude_control->get_rate_roll_pid().get_pid_info());
|
|
DataFlash.Log_Write_PID(LOG_PIDP_MSG, attitude_control->get_rate_pitch_pid().get_pid_info());
|
|
DataFlash.Log_Write_PID(LOG_PIDY_MSG, attitude_control->get_rate_yaw_pid().get_pid_info());
|
|
DataFlash.Log_Write_PID(LOG_PIDA_MSG, pos_control->get_accel_z_pid().get_pid_info() );
|
|
}
|
|
}
|
|
|
|
// Write an EKF and POS packet
|
|
void Copter::Log_Write_EKF_POS()
|
|
{
|
|
DataFlash.Log_Write_EKF(ahrs);
|
|
DataFlash.Log_Write_AHRS2(ahrs);
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
sitl.Log_Write_SIMSTATE(&DataFlash);
|
|
#endif
|
|
DataFlash.Log_Write_POS(ahrs);
|
|
}
|
|
|
|
struct PACKED log_MotBatt {
|
|
LOG_PACKET_HEADER;
|
|
uint64_t time_us;
|
|
float lift_max;
|
|
float bat_volt;
|
|
float bat_res;
|
|
float th_limit;
|
|
};
|
|
|
|
// Write an rate packet
|
|
void Copter::Log_Write_MotBatt()
|
|
{
|
|
#if FRAME_CONFIG != HELI_FRAME
|
|
struct log_MotBatt pkt_mot = {
|
|
LOG_PACKET_HEADER_INIT(LOG_MOTBATT_MSG),
|
|
time_us : AP_HAL::micros64(),
|
|
lift_max : (float)(motors->get_lift_max()),
|
|
bat_volt : (float)(motors->get_batt_voltage_filt()),
|
|
bat_res : (float)(battery.get_resistance()),
|
|
th_limit : (float)(motors->get_throttle_limit())
|
|
};
|
|
DataFlash.WriteBlock(&pkt_mot, sizeof(pkt_mot));
|
|
#endif
|
|
}
|
|
|
|
struct PACKED log_Event {
|
|
LOG_PACKET_HEADER;
|
|
uint64_t time_us;
|
|
uint8_t id;
|
|
};
|
|
|
|
// Wrote an event packet
|
|
void Copter::Log_Write_Event(uint8_t id)
|
|
{
|
|
if (should_log(MASK_LOG_ANY)) {
|
|
struct log_Event pkt = {
|
|
LOG_PACKET_HEADER_INIT(LOG_EVENT_MSG),
|
|
time_us : AP_HAL::micros64(),
|
|
id : id
|
|
};
|
|
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
|
|
}
|
|
}
|
|
|
|
struct PACKED log_Data_Int16t {
|
|
LOG_PACKET_HEADER;
|
|
uint64_t time_us;
|
|
uint8_t id;
|
|
int16_t data_value;
|
|
};
|
|
|
|
// Write an int16_t data packet
|
|
UNUSED_FUNCTION
|
|
void Copter::Log_Write_Data(uint8_t id, int16_t value)
|
|
{
|
|
if (should_log(MASK_LOG_ANY)) {
|
|
struct log_Data_Int16t pkt = {
|
|
LOG_PACKET_HEADER_INIT(LOG_DATA_INT16_MSG),
|
|
time_us : AP_HAL::micros64(),
|
|
id : id,
|
|
data_value : value
|
|
};
|
|
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
|
|
}
|
|
}
|
|
|
|
struct PACKED log_Data_UInt16t {
|
|
LOG_PACKET_HEADER;
|
|
uint64_t time_us;
|
|
uint8_t id;
|
|
uint16_t data_value;
|
|
};
|
|
|
|
// Write an uint16_t data packet
|
|
UNUSED_FUNCTION
|
|
void Copter::Log_Write_Data(uint8_t id, uint16_t value)
|
|
{
|
|
if (should_log(MASK_LOG_ANY)) {
|
|
struct log_Data_UInt16t pkt = {
|
|
LOG_PACKET_HEADER_INIT(LOG_DATA_UINT16_MSG),
|
|
time_us : AP_HAL::micros64(),
|
|
id : id,
|
|
data_value : value
|
|
};
|
|
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
|
|
}
|
|
}
|
|
|
|
struct PACKED log_Data_Int32t {
|
|
LOG_PACKET_HEADER;
|
|
uint64_t time_us;
|
|
uint8_t id;
|
|
int32_t data_value;
|
|
};
|
|
|
|
// Write an int32_t data packet
|
|
void Copter::Log_Write_Data(uint8_t id, int32_t value)
|
|
{
|
|
if (should_log(MASK_LOG_ANY)) {
|
|
struct log_Data_Int32t pkt = {
|
|
LOG_PACKET_HEADER_INIT(LOG_DATA_INT32_MSG),
|
|
time_us : AP_HAL::micros64(),
|
|
id : id,
|
|
data_value : value
|
|
};
|
|
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
|
|
}
|
|
}
|
|
|
|
struct PACKED log_Data_UInt32t {
|
|
LOG_PACKET_HEADER;
|
|
uint64_t time_us;
|
|
uint8_t id;
|
|
uint32_t data_value;
|
|
};
|
|
|
|
// Write a uint32_t data packet
|
|
void Copter::Log_Write_Data(uint8_t id, uint32_t value)
|
|
{
|
|
if (should_log(MASK_LOG_ANY)) {
|
|
struct log_Data_UInt32t pkt = {
|
|
LOG_PACKET_HEADER_INIT(LOG_DATA_UINT32_MSG),
|
|
time_us : AP_HAL::micros64(),
|
|
id : id,
|
|
data_value : value
|
|
};
|
|
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
|
|
}
|
|
}
|
|
|
|
struct PACKED log_Data_Float {
|
|
LOG_PACKET_HEADER;
|
|
uint64_t time_us;
|
|
uint8_t id;
|
|
float data_value;
|
|
};
|
|
|
|
// Write a float data packet
|
|
UNUSED_FUNCTION
|
|
void Copter::Log_Write_Data(uint8_t id, float value)
|
|
{
|
|
if (should_log(MASK_LOG_ANY)) {
|
|
struct log_Data_Float pkt = {
|
|
LOG_PACKET_HEADER_INIT(LOG_DATA_FLOAT_MSG),
|
|
time_us : AP_HAL::micros64(),
|
|
id : id,
|
|
data_value : value
|
|
};
|
|
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
|
|
}
|
|
}
|
|
|
|
struct PACKED log_Error {
|
|
LOG_PACKET_HEADER;
|
|
uint64_t time_us;
|
|
uint8_t sub_system;
|
|
uint8_t error_code;
|
|
};
|
|
|
|
// Write an error packet
|
|
void Copter::Log_Write_Error(uint8_t sub_system, uint8_t error_code)
|
|
{
|
|
struct log_Error pkt = {
|
|
LOG_PACKET_HEADER_INIT(LOG_ERROR_MSG),
|
|
time_us : AP_HAL::micros64(),
|
|
sub_system : sub_system,
|
|
error_code : error_code,
|
|
};
|
|
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
|
|
}
|
|
|
|
struct PACKED log_ParameterTuning {
|
|
LOG_PACKET_HEADER;
|
|
uint64_t time_us;
|
|
uint8_t parameter; // parameter we are tuning, e.g. 39 is CH6_CIRCLE_RATE
|
|
float tuning_value; // normalized value used inside tuning() function
|
|
int16_t control_in; // raw tune input value
|
|
int16_t tuning_low; // tuning low end value
|
|
int16_t tuning_high; // tuning high end value
|
|
};
|
|
|
|
void Copter::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t control_in, int16_t tune_low, int16_t tune_high)
|
|
{
|
|
struct log_ParameterTuning pkt_tune = {
|
|
LOG_PACKET_HEADER_INIT(LOG_PARAMTUNE_MSG),
|
|
time_us : AP_HAL::micros64(),
|
|
parameter : param,
|
|
tuning_value : tuning_val,
|
|
control_in : control_in,
|
|
tuning_low : tune_low,
|
|
tuning_high : tune_high
|
|
};
|
|
|
|
DataFlash.WriteBlock(&pkt_tune, sizeof(pkt_tune));
|
|
}
|
|
|
|
// logs when baro or compass becomes unhealthy
|
|
void Copter::Log_Sensor_Health()
|
|
{
|
|
// check baro
|
|
if (sensor_health.baro != barometer.healthy()) {
|
|
sensor_health.baro = barometer.healthy();
|
|
Log_Write_Error(ERROR_SUBSYSTEM_BARO, (sensor_health.baro ? ERROR_CODE_ERROR_RESOLVED : ERROR_CODE_UNHEALTHY));
|
|
}
|
|
|
|
// check compass
|
|
if (sensor_health.compass != compass.healthy()) {
|
|
sensor_health.compass = compass.healthy();
|
|
Log_Write_Error(ERROR_SUBSYSTEM_COMPASS, (sensor_health.compass ? ERROR_CODE_ERROR_RESOLVED : ERROR_CODE_UNHEALTHY));
|
|
}
|
|
|
|
// check primary GPS
|
|
if (sensor_health.primary_gps != gps.primary_sensor()) {
|
|
sensor_health.primary_gps = gps.primary_sensor();
|
|
Log_Write_Event(DATA_GPS_PRIMARY_CHANGED);
|
|
}
|
|
}
|
|
|
|
struct PACKED log_Heli {
|
|
LOG_PACKET_HEADER;
|
|
uint64_t time_us;
|
|
float desired_rotor_speed;
|
|
float main_rotor_speed;
|
|
};
|
|
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
// Write an helicopter packet
|
|
void Copter::Log_Write_Heli()
|
|
{
|
|
struct log_Heli pkt_heli = {
|
|
LOG_PACKET_HEADER_INIT(LOG_HELI_MSG),
|
|
time_us : AP_HAL::micros64(),
|
|
desired_rotor_speed : motors->get_desired_rotor_speed(),
|
|
main_rotor_speed : motors->get_main_rotor_speed(),
|
|
};
|
|
DataFlash.WriteBlock(&pkt_heli, sizeof(pkt_heli));
|
|
}
|
|
#endif
|
|
|
|
// precision landing logging
|
|
struct PACKED log_Precland {
|
|
LOG_PACKET_HEADER;
|
|
uint64_t time_us;
|
|
uint8_t healthy;
|
|
uint8_t target_acquired;
|
|
float pos_x;
|
|
float pos_y;
|
|
float vel_x;
|
|
float vel_y;
|
|
float meas_x;
|
|
float meas_y;
|
|
float meas_z;
|
|
uint32_t last_meas;
|
|
uint32_t ekf_outcount;
|
|
uint8_t estimator;
|
|
};
|
|
|
|
// Write a precision landing entry
|
|
void Copter::Log_Write_Precland()
|
|
{
|
|
#if PRECISION_LANDING == ENABLED
|
|
// exit immediately if not enabled
|
|
if (!precland.enabled()) {
|
|
return;
|
|
}
|
|
|
|
Vector3f target_pos_meas = Vector3f(0.0f,0.0f,0.0f);
|
|
Vector2f target_pos_rel = Vector2f(0.0f,0.0f);
|
|
Vector2f target_vel_rel = Vector2f(0.0f,0.0f);
|
|
precland.get_target_position_relative_cm(target_pos_rel);
|
|
precland.get_target_velocity_relative_cms(target_vel_rel);
|
|
precland.get_target_position_measurement_cm(target_pos_meas);
|
|
|
|
struct log_Precland pkt = {
|
|
LOG_PACKET_HEADER_INIT(LOG_PRECLAND_MSG),
|
|
time_us : AP_HAL::micros64(),
|
|
healthy : precland.healthy(),
|
|
target_acquired : precland.target_acquired(),
|
|
pos_x : target_pos_rel.x,
|
|
pos_y : target_pos_rel.y,
|
|
vel_x : target_vel_rel.x,
|
|
vel_y : target_vel_rel.y,
|
|
meas_x : target_pos_meas.x,
|
|
meas_y : target_pos_meas.y,
|
|
meas_z : target_pos_meas.z,
|
|
last_meas : precland.last_backend_los_meas_ms(),
|
|
ekf_outcount : precland.ekf_outlier_count(),
|
|
estimator : precland.estimator_type()
|
|
};
|
|
DataFlash.WriteBlock(&pkt, sizeof(pkt));
|
|
#endif // PRECISION_LANDING == ENABLED
|
|
}
|
|
|
|
// guided target logging
|
|
struct PACKED log_GuidedTarget {
|
|
LOG_PACKET_HEADER;
|
|
uint64_t time_us;
|
|
uint8_t type;
|
|
float pos_target_x;
|
|
float pos_target_y;
|
|
float pos_target_z;
|
|
float vel_target_x;
|
|
float vel_target_y;
|
|
float vel_target_z;
|
|
};
|
|
|
|
// Write a Guided mode target
|
|
void Copter::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target)
|
|
{
|
|
struct log_GuidedTarget pkt = {
|
|
LOG_PACKET_HEADER_INIT(LOG_GUIDEDTARGET_MSG),
|
|
time_us : AP_HAL::micros64(),
|
|
type : target_type,
|
|
pos_target_x : pos_target.x,
|
|
pos_target_y : pos_target.y,
|
|
pos_target_z : pos_target.z,
|
|
vel_target_x : vel_target.x,
|
|
vel_target_y : vel_target.y,
|
|
vel_target_z : vel_target.z
|
|
};
|
|
DataFlash.WriteBlock(&pkt, sizeof(pkt));
|
|
}
|
|
|
|
// type and unit information can be found in
|
|
// libraries/DataFlash/Logstructure.h; search for "log_Units" for
|
|
// units and "Format characters" for field type information
|
|
const struct LogStructure Copter::log_structure[] = {
|
|
LOG_COMMON_STRUCTURES,
|
|
#if AUTOTUNE_ENABLED == ENABLED
|
|
{ LOG_AUTOTUNE_MSG, sizeof(log_AutoTune),
|
|
"ATUN", "QBBfffffff", "TimeUS,Axis,TuneStep,Targ,Min,Max,RP,RD,SP,ddt", "s--ddd---o", "F--BBB---0" },
|
|
{ LOG_AUTOTUNEDETAILS_MSG, sizeof(log_AutoTuneDetails),
|
|
"ATDE", "Qff", "TimeUS,Angle,Rate", "sdk", "FBB" },
|
|
#endif
|
|
{ LOG_PARAMTUNE_MSG, sizeof(log_ParameterTuning),
|
|
"PTUN", "QBfHHH", "TimeUS,Param,TunVal,CtrlIn,TunLo,TunHi", "s-----", "F-----" },
|
|
{ LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning),
|
|
"CTUN", "Qffffffefcfhh", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DSAlt,SAlt,TAlt,DCRt,CRt", "s----mmmmmmnn", "F----00B0BBBB" },
|
|
{ LOG_MOTBATT_MSG, sizeof(log_MotBatt),
|
|
"MOTB", "Qffff", "TimeUS,LiftMax,BatVolt,BatRes,ThLimit", "s-vw-", "F-00-" },
|
|
{ LOG_EVENT_MSG, sizeof(log_Event),
|
|
"EV", "QB", "TimeUS,Id", "s-", "F-" },
|
|
{ LOG_DATA_INT16_MSG, sizeof(log_Data_Int16t),
|
|
"D16", "QBh", "TimeUS,Id,Value", "s--", "F--" },
|
|
{ LOG_DATA_UINT16_MSG, sizeof(log_Data_UInt16t),
|
|
"DU16", "QBH", "TimeUS,Id,Value", "s--", "F--" },
|
|
{ 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--" },
|
|
{ LOG_ERROR_MSG, sizeof(log_Error),
|
|
"ERR", "QBB", "TimeUS,Subsys,ECode", "s--", "F--" },
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
{ LOG_HELI_MSG, sizeof(log_Heli),
|
|
"HELI", "Qff", "TimeUS,DRRPM,ERRPM", "s--", "F--" },
|
|
#endif
|
|
#if PRECISION_LANDING == ENABLED
|
|
{ LOG_PRECLAND_MSG, sizeof(log_Precland),
|
|
"PL", "QBBfffffffIIB", "TimeUS,Heal,TAcq,pX,pY,vX,vY,mX,mY,mZ,LastMeasUS,EKFOutl,Est", "s--ddmmddms--","F--00BB00BC--" },
|
|
#endif
|
|
{ LOG_GUIDEDTARGET_MSG, sizeof(log_GuidedTarget),
|
|
"GUID", "QBffffff", "TimeUS,Type,pX,pY,pZ,vX,vY,vZ", "s-mmmnnn", "F-000000" },
|
|
};
|
|
|
|
void Copter::Log_Write_Vehicle_Startup_Messages()
|
|
{
|
|
// only 200(?) bytes are guaranteed by DataFlash
|
|
DataFlash.Log_Write_MessageF("Frame: %s", get_frame_string());
|
|
DataFlash.Log_Write_Mode(control_mode, control_mode_reason);
|
|
#if AC_RALLY
|
|
DataFlash.Log_Write_Rally(rally);
|
|
#endif
|
|
ahrs.Log_Write_Home_And_Origin();
|
|
gps.Write_DataFlash_Log_Startup_messages();
|
|
}
|
|
|
|
|
|
void Copter::log_init(void)
|
|
{
|
|
DataFlash.Init(log_structure, ARRAY_SIZE(log_structure));
|
|
}
|
|
|
|
#else // LOGGING_ENABLED
|
|
|
|
void Copter::Log_Write_Control_Tuning() {}
|
|
void Copter::Log_Write_Performance() {}
|
|
void Copter::Log_Write_Attitude(void) {}
|
|
void Copter::Log_Write_EKF_POS() {}
|
|
void Copter::Log_Write_MotBatt() {}
|
|
void Copter::Log_Write_Event(uint8_t id) {}
|
|
void Copter::Log_Write_Data(uint8_t id, int32_t value) {}
|
|
void Copter::Log_Write_Data(uint8_t id, uint32_t value) {}
|
|
void Copter::Log_Write_Data(uint8_t id, int16_t value) {}
|
|
void Copter::Log_Write_Data(uint8_t id, uint16_t value) {}
|
|
void Copter::Log_Write_Data(uint8_t id, float value) {}
|
|
void Copter::Log_Write_Error(uint8_t sub_system, uint8_t error_code) {}
|
|
void Copter::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t control_in, int16_t tune_low, int16_t tune_high) {}
|
|
void Copter::Log_Sensor_Health() {}
|
|
void Copter::Log_Write_Precland() {}
|
|
void Copter::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
|
|
void Copter::Log_Write_Vehicle_Startup_Messages() {}
|
|
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
void Copter::Log_Write_Heli() {}
|
|
#endif
|
|
|
|
void Copter::log_init(void) {}
|
|
|
|
#endif // LOGGING_ENABLED
|