mirror of https://github.com/ArduPilot/ardupilot
524 lines
15 KiB
C++
524 lines
15 KiB
C++
#include "Sub.h"
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#include "version.h"
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#if LOGGING_ENABLED == ENABLED
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// Code to Write and Read packets from DataFlash log memory
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// Code to interact with the user to dump or erase logs
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void Sub::do_erase_logs(void)
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{
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gcs_send_text(MAV_SEVERITY_INFO, "Erasing logs");
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DataFlash.EraseAll();
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gcs_send_text(MAV_SEVERITY_INFO, "Log erase complete");
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}
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// Write a Current data packet
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void Sub::Log_Write_Current()
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{
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DataFlash.Log_Write_Current(battery);
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// also write power status
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DataFlash.Log_Write_Power();
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}
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struct PACKED log_Optflow {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t surface_quality;
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float flow_x;
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float flow_y;
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float body_x;
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float body_y;
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};
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// Write an optical flow packet
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void Sub::Log_Write_Optflow()
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{
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#if OPTFLOW == ENABLED
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// exit immediately if not enabled
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if (!optflow.enabled()) {
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return;
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}
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const Vector2f &flowRate = optflow.flowRate();
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const Vector2f &bodyRate = optflow.bodyRate();
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struct log_Optflow pkt = {
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LOG_PACKET_HEADER_INIT(LOG_OPTFLOW_MSG),
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time_us : AP_HAL::micros64(),
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surface_quality : optflow.quality(),
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flow_x : flowRate.x,
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flow_y : flowRate.y,
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body_x : bodyRate.x,
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body_y : bodyRate.y
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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#endif // OPTFLOW == ENABLED
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}
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struct PACKED log_Nav_Tuning {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float desired_pos_x;
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float desired_pos_y;
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float pos_x;
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float pos_y;
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float desired_vel_x;
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float desired_vel_y;
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float vel_x;
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float vel_y;
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float desired_accel_x;
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float desired_accel_y;
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};
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// Write an Nav Tuning packet
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void Sub::Log_Write_Nav_Tuning()
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{
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const Vector3f &pos_target = pos_control.get_pos_target();
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const Vector3f &vel_target = pos_control.get_vel_target();
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const Vector3f &accel_target = pos_control.get_accel_target();
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const Vector3f &position = inertial_nav.get_position();
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const Vector3f &velocity = inertial_nav.get_velocity();
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struct log_Nav_Tuning pkt = {
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LOG_PACKET_HEADER_INIT(LOG_NAV_TUNING_MSG),
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time_us : AP_HAL::micros64(),
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desired_pos_x : pos_target.x,
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desired_pos_y : pos_target.y,
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pos_x : position.x,
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pos_y : position.y,
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desired_vel_x : vel_target.x,
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desired_vel_y : vel_target.y,
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vel_x : velocity.x,
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vel_y : velocity.y,
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desired_accel_x : accel_target.x,
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desired_accel_y : accel_target.y
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};
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DataFlash.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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float baro_alt;
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int16_t desired_rangefinder_alt;
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int16_t 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 a control tuning packet
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void Sub::Log_Write_Control_Tuning()
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{
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// get terrain altitude
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float terr_alt = 0.0f;
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#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
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terrain.height_above_terrain(terr_alt, true);
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#endif
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struct log_Control_Tuning pkt = {
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LOG_PACKET_HEADER_INIT(LOG_CONTROL_TUNING_MSG),
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time_us : AP_HAL::micros64(),
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throttle_in : attitude_control.get_throttle_in(),
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angle_boost : attitude_control.angle_boost(),
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throttle_out : motors.get_throttle(),
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throttle_hover : motors.get_throttle_hover(),
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desired_alt : pos_control.get_alt_target() / 100.0f,
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inav_alt : inertial_nav.get_altitude() / 100.0f,
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baro_alt : barometer.get_altitude(),
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desired_rangefinder_alt : (int16_t)target_rangefinder_alt,
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rangefinder_alt : rangefinder_state.alt_cm,
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terr_alt : terr_alt,
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target_climb_rate : (int16_t)pos_control.get_vel_target_z(),
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climb_rate : climb_rate
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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struct PACKED log_Performance {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint16_t num_long_running;
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uint16_t num_loops;
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uint32_t max_time;
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int16_t pm_test;
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uint8_t i2c_lockup_count;
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uint16_t ins_error_count;
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uint32_t log_dropped;
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uint32_t mem_avail;
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};
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// Write a performance monitoring packet
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void Sub::Log_Write_Performance()
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{
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struct log_Performance pkt = {
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LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG),
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time_us : AP_HAL::micros64(),
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num_long_running : perf_info_get_num_long_running(),
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num_loops : perf_info_get_num_loops(),
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max_time : perf_info_get_max_time(),
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pm_test : pmTest1,
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i2c_lockup_count : 0,
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ins_error_count : ins.error_count(),
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log_dropped : DataFlash.num_dropped() - perf_info_get_num_dropped(),
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hal.util->available_memory()
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};
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DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
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}
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// Write an attitude packet
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void Sub::Log_Write_Attitude()
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{
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Vector3f targets = attitude_control.get_att_target_euler_cd();
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targets.z = wrap_360_cd(targets.z);
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DataFlash.Log_Write_Attitude(ahrs, targets);
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#if OPTFLOW == ENABLED
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DataFlash.Log_Write_EKF(ahrs,optflow.enabled());
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#else
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DataFlash.Log_Write_EKF(ahrs,false);
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#endif
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DataFlash.Log_Write_AHRS2(ahrs);
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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sitl.Log_Write_SIMSTATE(&DataFlash);
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#endif
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DataFlash.Log_Write_POS(ahrs);
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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 Sub::Log_Write_MotBatt()
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{
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struct log_MotBatt pkt_mot = {
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LOG_PACKET_HEADER_INIT(LOG_MOTBATT_MSG),
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time_us : AP_HAL::micros64(),
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lift_max : (float)(motors.get_lift_max()),
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bat_volt : (float)(motors.get_batt_voltage_filt()),
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bat_res : (float)(motors.get_batt_resistance()),
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th_limit : (float)(motors.get_throttle_limit())
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};
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DataFlash.WriteBlock(&pkt_mot, sizeof(pkt_mot));
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}
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struct PACKED log_Event {
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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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};
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// Wrote an event packet
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void Sub::Log_Write_Event(uint8_t id)
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{
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if (should_log(MASK_LOG_ANY)) {
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struct log_Event pkt = {
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LOG_PACKET_HEADER_INIT(LOG_EVENT_MSG),
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time_us : AP_HAL::micros64(),
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id : id
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};
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DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
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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 Sub::Log_Write_Data(uint8_t 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 : id,
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data_value : value
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};
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DataFlash.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 Sub::Log_Write_Data(uint8_t 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 : id,
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data_value : value
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};
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DataFlash.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 Sub::Log_Write_Data(uint8_t 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 : id,
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data_value : value
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};
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DataFlash.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 Sub::Log_Write_Data(uint8_t 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 : id,
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data_value : value
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};
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DataFlash.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 Sub::Log_Write_Data(uint8_t 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 : id,
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data_value : value
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};
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DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
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}
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}
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struct PACKED log_Error {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t sub_system;
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uint8_t error_code;
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};
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// Write an error packet
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void Sub::Log_Write_Error(uint8_t sub_system, uint8_t error_code)
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{
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struct log_Error pkt = {
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LOG_PACKET_HEADER_INIT(LOG_ERROR_MSG),
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time_us : AP_HAL::micros64(),
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sub_system : sub_system,
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error_code : error_code,
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};
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DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
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}
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void Sub::Log_Write_Baro(void)
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{
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if (!ahrs.have_ekf_logging()) {
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DataFlash.Log_Write_Baro(barometer);
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}
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}
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// log EKF origin and ahrs home to dataflash
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void Sub::Log_Write_Home_And_Origin()
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{
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// log ekf origin if set
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Location ekf_orig;
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if (ahrs.get_origin(ekf_orig)) {
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DataFlash.Log_Write_Origin(LogOriginType::ekf_origin, ekf_orig);
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}
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// log ahrs home if set
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if (ap.home_state != HOME_UNSET) {
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DataFlash.Log_Write_Origin(LogOriginType::ahrs_home, ahrs.get_home());
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}
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}
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// logs when baro or compass becomes unhealthy
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void Sub::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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Log_Write_Error(ERROR_SUBSYSTEM_BARO, (sensor_health.baro ? ERROR_CODE_ERROR_RESOLVED : ERROR_CODE_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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Log_Write_Error(ERROR_SUBSYSTEM_COMPASS, (sensor_health.compass ? ERROR_CODE_ERROR_RESOLVED : ERROR_CODE_UNHEALTHY));
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}
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}
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struct PACKED log_GuidedTarget {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t type;
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float pos_target_x;
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float pos_target_y;
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float pos_target_z;
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float vel_target_x;
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float vel_target_y;
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float vel_target_z;
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};
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// Write a Guided mode target
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void Sub::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target)
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{
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struct log_GuidedTarget pkt = {
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LOG_PACKET_HEADER_INIT(LOG_GUIDEDTARGET_MSG),
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time_us : AP_HAL::micros64(),
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type : target_type,
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pos_target_x : pos_target.x,
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pos_target_y : pos_target.y,
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pos_target_z : pos_target.z,
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vel_target_x : vel_target.x,
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vel_target_y : vel_target.y,
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vel_target_z : vel_target.z
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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const struct LogStructure Sub::log_structure[] = {
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LOG_COMMON_STRUCTURES,
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{ LOG_OPTFLOW_MSG, sizeof(log_Optflow),
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"OF", "QBffff", "TimeUS,Qual,flowX,flowY,bodyX,bodyY" },
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{ LOG_NAV_TUNING_MSG, sizeof(log_Nav_Tuning),
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"NTUN", "Qffffffffff", "TimeUS,DPosX,DPosY,PosX,PosY,DVelX,DVelY,VelX,VelY,DAccX,DAccY" },
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{ LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning),
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"CTUN", "Qfffffffccfhh", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DSAlt,SAlt,TAlt,DCRt,CRt" },
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{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
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"PM", "QHHIhBHII", "TimeUS,NLon,NLoop,MaxT,PMT,I2CErr,INSErr,LogDrop,Mem" },
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{ LOG_MOTBATT_MSG, sizeof(log_MotBatt),
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"MOTB", "Qffff", "TimeUS,LiftMax,BatVolt,BatRes,ThLimit" },
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{ LOG_EVENT_MSG, sizeof(log_Event),
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"EV", "QB", "TimeUS,Id" },
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{ LOG_DATA_INT16_MSG, sizeof(log_Data_Int16t),
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"D16", "QBh", "TimeUS,Id,Value" },
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{ LOG_DATA_UINT16_MSG, sizeof(log_Data_UInt16t),
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"DU16", "QBH", "TimeUS,Id,Value" },
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{ LOG_DATA_INT32_MSG, sizeof(log_Data_Int32t),
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"D32", "QBi", "TimeUS,Id,Value" },
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{ LOG_DATA_UINT32_MSG, sizeof(log_Data_UInt32t),
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"DU32", "QBI", "TimeUS,Id,Value" },
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{ LOG_DATA_FLOAT_MSG, sizeof(log_Data_Float),
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"DFLT", "QBf", "TimeUS,Id,Value" },
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{ LOG_ERROR_MSG, sizeof(log_Error),
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"ERR", "QBB", "TimeUS,Subsys,ECode" },
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{ LOG_GUIDEDTARGET_MSG, sizeof(log_GuidedTarget),
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"GUID", "QBffffff", "TimeUS,Type,pX,pY,pZ,vX,vY,vZ" },
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};
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void Sub::Log_Write_Vehicle_Startup_Messages()
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{
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// only 200(?) bytes are guaranteed by DataFlash
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DataFlash.Log_Write_Mode(control_mode, control_mode_reason);
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Log_Write_Home_And_Origin();
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gps.Write_DataFlash_Log_Startup_messages();
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}
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void Sub::start_logging()
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{
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if (g.log_bitmask == 0) {
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return;
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}
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if (in_log_download) {
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return;
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}
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ap.logging_started = true;
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// dataflash may have stopped logging - when we get_log_data,
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// for example. Always try to restart:
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DataFlash.StartUnstartedLogging();
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}
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void Sub::log_init(void)
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{
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DataFlash.Init(log_structure, ARRAY_SIZE(log_structure));
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for (uint8_t i=0; i<num_gcs; i++) {
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gcs_chan[i].reset_cli_timeout();
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}
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}
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#else // LOGGING_ENABLED
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void Sub::do_erase_logs(void) {}
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void Sub::Log_Write_Current() {}
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void Sub::Log_Write_Nav_Tuning() {}
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void Sub::Log_Write_Control_Tuning() {}
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void Sub::Log_Write_Performance() {}
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void Sub::Log_Write_Attitude(void) {}
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void Sub::Log_Write_MotBatt() {}
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void Sub::Log_Write_Startup() {}
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void Sub::Log_Write_Event(uint8_t id) {}
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void Sub::Log_Write_Data(uint8_t id, int32_t value) {}
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void Sub::Log_Write_Data(uint8_t id, uint32_t value) {}
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void Sub::Log_Write_Data(uint8_t id, int16_t value) {}
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void Sub::Log_Write_Data(uint8_t id, uint16_t value) {}
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void Sub::Log_Write_Data(uint8_t id, float value) {}
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void Sub::Log_Write_Error(uint8_t sub_system, uint8_t error_code) {}
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void Sub::Log_Write_Baro(void) {}
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void Sub::Log_Write_Home_And_Origin() {}
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void Sub::Log_Sensor_Health() {}
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void Sub::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
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#if OPTFLOW == ENABLED
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void Sub::Log_Write_Optflow() {}
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#endif
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void Sub::start_logging() {}
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void Sub::log_init(void) {}
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#endif // LOGGING_ENABLED
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