mirror of https://github.com/ArduPilot/ardupilot
92 lines
3.4 KiB
C++
92 lines
3.4 KiB
C++
#include <AP_Logger/AP_Logger_config.h>
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#if HAL_LOGGING_ENABLED
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#include "AC_Avoid.h"
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#include "AP_OADijkstra.h"
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#include "AP_OABendyRuler.h"
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#include <AP_Logger/AP_Logger.h>
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#if AP_OAPATHPLANNER_BENDYRULER_ENABLED
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void AP_OABendyRuler::Write_OABendyRuler(const uint8_t type, const bool active, const float target_yaw, const float target_pitch, const bool resist_chg, const float margin, const Location &final_dest, const Location &oa_dest) const
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{
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int32_t oa_dest_alt, final_alt;
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const bool got_oa_dest = oa_dest.get_alt_cm(Location::AltFrame::ABOVE_ORIGIN, oa_dest_alt);
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const bool got_final_dest = final_dest.get_alt_cm(Location::AltFrame::ABOVE_ORIGIN, final_alt);
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const struct log_OABendyRuler pkt{
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LOG_PACKET_HEADER_INIT(LOG_OA_BENDYRULER_MSG),
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time_us : AP_HAL::micros64(),
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type : type,
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active : active,
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target_yaw : (uint16_t)wrap_360(target_yaw),
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yaw : (uint16_t)wrap_360(AP::ahrs().yaw_sensor * 0.01f),
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target_pitch: (uint16_t)target_pitch,
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resist_chg : resist_chg,
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margin : margin,
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final_lat : final_dest.lat,
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final_lng : final_dest.lng,
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final_alt : got_final_dest ? final_alt : final_dest.alt,
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oa_lat : oa_dest.lat,
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oa_lng : oa_dest.lng,
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oa_alt : got_oa_dest ? oa_dest_alt : oa_dest.alt
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};
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AP::logger().WriteBlock(&pkt, sizeof(pkt));
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}
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#endif // AP_OAPATHPLANNER_BENDYRULER_ENABLED
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#if AP_OAPATHPLANNER_DIJKSTRA_ENABLED
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void AP_OADijkstra::Write_OADijkstra(const uint8_t state, const uint8_t error_id, const uint8_t curr_point, const uint8_t tot_points, const Location &final_dest, const Location &oa_dest) const
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{
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const struct log_OADijkstra pkt{
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LOG_PACKET_HEADER_INIT(LOG_OA_DIJKSTRA_MSG),
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time_us : AP_HAL::micros64(),
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state : state,
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error_id : error_id,
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curr_point : curr_point,
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tot_points : tot_points,
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final_lat : final_dest.lat,
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final_lng : final_dest.lng,
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oa_lat : oa_dest.lat,
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oa_lng : oa_dest.lng
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};
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AP::logger().WriteBlock(&pkt, sizeof(pkt));
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}
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#endif
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#if AP_OAPATHPLANNER_ENABLED
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void AP_OADijkstra::Write_Visgraph_point(const uint8_t version, const uint8_t point_num, const int32_t Lat, const int32_t Lon) const
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{
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const struct log_OD_Visgraph pkt{
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LOG_PACKET_HEADER_INIT(LOG_OD_VISGRAPH_MSG),
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time_us : AP_HAL::micros64(),
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version : version,
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point_num : point_num,
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Lat : Lat,
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Lon : Lon,
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};
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AP::logger().WriteBlock(&pkt, sizeof(pkt));
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}
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#endif
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#if AP_AVOIDANCE_ENABLED
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void AC_Avoid::Write_SimpleAvoidance(const uint8_t state, const Vector3f& desired_vel, const Vector3f& modified_vel, const bool back_up) const
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{
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const struct log_SimpleAvoid pkt{
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LOG_PACKET_HEADER_INIT(LOG_SIMPLE_AVOID_MSG),
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time_us : AP_HAL::micros64(),
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state : state,
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desired_vel_x : desired_vel.x * 0.01f,
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desired_vel_y : desired_vel.y * 0.01f,
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desired_vel_z : desired_vel.z * 0.01f,
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modified_vel_x : modified_vel.x * 0.01f,
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modified_vel_y : modified_vel.y * 0.01f,
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modified_vel_z : modified_vel.z * 0.01f,
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backing_up : back_up,
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};
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AP::logger().WriteBlock(&pkt, sizeof(pkt));
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}
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#endif
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#endif // HAL_LOGGING_ENABLED
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