mirror of https://github.com/ArduPilot/ardupilot
739 lines
23 KiB
C++
739 lines
23 KiB
C++
#include "Copter.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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#if AUTOTUNE_ENABLED == ENABLED
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struct PACKED log_AutoTune {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t axis; // roll or pitch
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uint8_t tune_step; // tuning PI or D up or down
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float meas_target; // target achieved rotation rate
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float meas_min; // maximum achieved rotation rate
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float meas_max; // maximum achieved rotation rate
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float new_gain_rp; // newly calculated gain
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float new_gain_rd; // newly calculated gain
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float new_gain_sp; // newly calculated gain
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float new_ddt; // newly calculated gain
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};
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// Write an Autotune data packet
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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)
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{
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struct log_AutoTune pkt = {
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LOG_PACKET_HEADER_INIT(LOG_AUTOTUNE_MSG),
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time_us : AP_HAL::micros64(),
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axis : _axis,
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tune_step : tune_step,
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meas_target : meas_target,
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meas_min : meas_min,
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meas_max : meas_max,
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new_gain_rp : new_gain_rp,
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new_gain_rd : new_gain_rd,
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new_gain_sp : new_gain_sp,
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new_ddt : new_ddt
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};
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_copter.DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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struct PACKED log_AutoTuneDetails {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float angle_cd; // lean angle in centi-degrees
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float rate_cds; // current rotation rate in centi-degrees / second
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};
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// Write an Autotune data packet
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void Copter::ModeAutoTune::Log_Write_AutoTuneDetails(float angle_cd, float rate_cds)
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{
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struct log_AutoTuneDetails pkt = {
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LOG_PACKET_HEADER_INIT(LOG_AUTOTUNEDETAILS_MSG),
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time_us : AP_HAL::micros64(),
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angle_cd : angle_cd,
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rate_cds : rate_cds
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};
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_copter.DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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#endif
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// Write a Current data packet
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void Copter::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 Copter::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 Copter::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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int32_t 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 Copter::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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if (terrain.height_above_terrain(terr_alt, true)) {
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terr_alt = 0.0f;
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}
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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 : baro_alt,
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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 Copter::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 Copter::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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DataFlash.Log_Write_Rate(ahrs, *motors, *attitude_control, *pos_control);
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if (should_log(MASK_LOG_PID)) {
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DataFlash.Log_Write_PID(LOG_PIDR_MSG, attitude_control->get_rate_roll_pid().get_pid_info());
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DataFlash.Log_Write_PID(LOG_PIDP_MSG, attitude_control->get_rate_pitch_pid().get_pid_info());
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DataFlash.Log_Write_PID(LOG_PIDY_MSG, attitude_control->get_rate_yaw_pid().get_pid_info());
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DataFlash.Log_Write_PID(LOG_PIDA_MSG, g.pid_accel_z.get_pid_info() );
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}
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}
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// Write an EKF and POS packet
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void Copter::Log_Write_EKF_POS()
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{
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DataFlash.Log_Write_EKF(ahrs);
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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 Copter::Log_Write_MotBatt()
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{
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#if FRAME_CONFIG != HELI_FRAME
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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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#endif
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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 Copter::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 Copter::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 Copter::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 Copter::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 Copter::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 Copter::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 Copter::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 Copter::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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struct PACKED log_ParameterTuning {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t parameter; // parameter we are tuning, e.g. 39 is CH6_CIRCLE_RATE
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float tuning_value; // normalized value used inside tuning() function
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int16_t control_in; // raw tune input value
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int16_t tuning_low; // tuning low end value
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int16_t tuning_high; // tuning high end value
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};
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void Copter::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t control_in, int16_t tune_low, int16_t tune_high)
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{
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struct log_ParameterTuning pkt_tune = {
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LOG_PACKET_HEADER_INIT(LOG_PARAMTUNE_MSG),
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time_us : AP_HAL::micros64(),
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parameter : param,
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tuning_value : tuning_val,
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control_in : control_in,
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tuning_low : tune_low,
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tuning_high : tune_high
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};
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DataFlash.WriteBlock(&pkt_tune, sizeof(pkt_tune));
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}
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// log EKF origin and ahrs home to dataflash
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void Copter::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 Copter::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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// check primary GPS
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if (sensor_health.primary_gps != gps.primary_sensor()) {
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sensor_health.primary_gps = gps.primary_sensor();
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Log_Write_Event(DATA_GPS_PRIMARY_CHANGED);
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}
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}
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struct PACKED log_Heli {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float desired_rotor_speed;
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float main_rotor_speed;
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};
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#if FRAME_CONFIG == HELI_FRAME
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// 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;
|
|
};
|
|
|
|
// Write an optical flow packet
|
|
void Copter::Log_Write_Precland()
|
|
{
|
|
#if PRECISION_LANDING == ENABLED
|
|
// exit immediately if not enabled
|
|
if (!precland.enabled()) {
|
|
return;
|
|
}
|
|
|
|
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);
|
|
|
|
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
|
|
};
|
|
DataFlash.WriteBlock(&pkt, sizeof(pkt));
|
|
#endif // PRECISION_LANDING == ENABLED
|
|
}
|
|
|
|
// precision landing 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));
|
|
}
|
|
|
|
// precision landing logging
|
|
struct PACKED log_Throw {
|
|
LOG_PACKET_HEADER;
|
|
uint64_t time_us;
|
|
uint8_t stage;
|
|
float velocity;
|
|
float velocity_z;
|
|
float accel;
|
|
float ef_accel_z;
|
|
uint8_t throw_detect;
|
|
uint8_t attitude_ok;
|
|
uint8_t height_ok;
|
|
uint8_t pos_ok;
|
|
};
|
|
|
|
// Write a Throw mode details
|
|
void Copter::Log_Write_Throw(ThrowModeStage stage, float velocity, float velocity_z, float accel, float ef_accel_z, bool throw_detect, bool attitude_ok, bool height_ok, bool pos_ok)
|
|
{
|
|
struct log_Throw pkt = {
|
|
LOG_PACKET_HEADER_INIT(LOG_THROW_MSG),
|
|
time_us : AP_HAL::micros64(),
|
|
stage : (uint8_t)stage,
|
|
velocity : velocity,
|
|
velocity_z : velocity_z,
|
|
accel : accel,
|
|
ef_accel_z : ef_accel_z,
|
|
throw_detect : throw_detect,
|
|
attitude_ok : attitude_ok,
|
|
height_ok : height_ok,
|
|
pos_ok : pos_ok
|
|
};
|
|
DataFlash.WriteBlock(&pkt, sizeof(pkt));
|
|
}
|
|
|
|
// Write proximity sensor distances
|
|
void Copter::Log_Write_Proximity()
|
|
{
|
|
#if PROXIMITY_ENABLED == ENABLED
|
|
DataFlash.Log_Write_Proximity(g2.proximity);
|
|
#endif
|
|
}
|
|
|
|
// Write beacon position and distances
|
|
void Copter::Log_Write_Beacon()
|
|
{
|
|
// exit immediately if feature is disabled
|
|
if (!g2.beacon.enabled()) {
|
|
return;
|
|
}
|
|
DataFlash.Log_Write_Beacon(g2.beacon);
|
|
}
|
|
|
|
// 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_OPTFLOW_MSG, sizeof(log_Optflow),
|
|
"OF", "QBffff", "TimeUS,Qual,flowX,flowY,bodyX,bodyY", "s-EEEE", "F-0000" },
|
|
{ LOG_NAV_TUNING_MSG, sizeof(log_Nav_Tuning),
|
|
"NTUN", "Qffffffffff", "TimeUS,DPosX,DPosY,PosX,PosY,DVelX,DVelY,VelX,VelY,DAccX,DAccY", "smmmmnnnnoo", "FBBBBBBBBBB" },
|
|
{ LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning),
|
|
"CTUN", "Qffffffeccfhh", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DSAlt,SAlt,TAlt,DCRt,CRt", "s----mmmmmmnn", "F----00BBBBBB" },
|
|
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
|
|
"PM", "QHHIhBHII", "TimeUS,NLon,NLoop,MaxT,PMT,I2CErr,INSErr,LogDrop,Mem", "s-------b", "F-------0" },
|
|
{ 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--" },
|
|
{ LOG_HELI_MSG, sizeof(log_Heli),
|
|
"HELI", "Qff", "TimeUS,DRRPM,ERRPM", "s--", "F--" },
|
|
{ LOG_PRECLAND_MSG, sizeof(log_Precland),
|
|
"PL", "QBBffff", "TimeUS,Heal,TAcq,pX,pY,vX,vY", "s--ddmm","F--00BB" },
|
|
{ LOG_GUIDEDTARGET_MSG, sizeof(log_GuidedTarget),
|
|
"GUID", "QBffffff", "TimeUS,Type,pX,pY,pZ,vX,vY,vZ", "s-mmmnnn", "F-000000" },
|
|
{ LOG_THROW_MSG, sizeof(log_Throw),
|
|
"THRO", "QBffffbbbb", "TimeUS,Stage,Vel,VelZ,Acc,AccEfZ,Throw,AttOk,HgtOk,PosOk", "s-nnoo----", "F-0000----" },
|
|
};
|
|
|
|
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
|
|
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_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) {}
|
|
void Copter::Log_Write_AutoTuneDetails(float angle_cd, float rate_cds) {}
|
|
void Copter::Log_Write_Current() {}
|
|
void Copter::Log_Write_Nav_Tuning() {}
|
|
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_Baro(void) {}
|
|
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_Write_Home_And_Origin() {}
|
|
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_Throw(ThrowModeStage stage, float velocity, float velocity_z, float accel, float ef_accel_z, bool throw_detect, bool attitude_ok, bool height_ok, bool pos_ok) {}
|
|
void Copter::Log_Write_Proximity() {}
|
|
void Copter::Log_Write_Beacon() {}
|
|
void Copter::Log_Write_Vehicle_Startup_Messages() {}
|
|
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
void Copter::Log_Write_Heli() {}
|
|
#endif
|
|
|
|
#if OPTFLOW == ENABLED
|
|
void Copter::Log_Write_Optflow() {}
|
|
#endif
|
|
|
|
void Copter::log_init(void) {}
|
|
|
|
#endif // LOGGING_ENABLED
|