mirror of https://github.com/ArduPilot/ardupilot
368 lines
12 KiB
C++
368 lines
12 KiB
C++
#include "Rover.h"
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#include <AP_RangeFinder/RangeFinder_Backend.h>
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#if LOGGING_ENABLED == ENABLED
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struct PACKED log_Arm_Disarm {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t arm_state;
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uint16_t arm_checks;
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};
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void Rover::Log_Write_Arm_Disarm()
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{
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struct log_Arm_Disarm pkt = {
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LOG_PACKET_HEADER_INIT(LOG_ARM_DISARM_MSG),
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time_us : AP_HAL::micros64(),
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arm_state : arming.is_armed(),
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arm_checks : arming.get_enabled_checks()
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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// Write an attitude packet
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void Rover::Log_Write_Attitude()
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{
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float desired_pitch_cd = degrees(g2.attitude_control.get_desired_pitch()) * 100.0f;
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const Vector3f targets(0.0f, desired_pitch_cd, 0.0f);
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DataFlash.Log_Write_Attitude(ahrs, targets);
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#if AP_AHRS_NAVEKF_AVAILABLE
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DataFlash.Log_Write_EKF(ahrs);
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DataFlash.Log_Write_AHRS2(ahrs);
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#endif
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DataFlash.Log_Write_POS(ahrs);
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// log steering rate controller
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DataFlash.Log_Write_PID(LOG_PIDS_MSG, g2.attitude_control.get_steering_rate_pid().get_pid_info());
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DataFlash.Log_Write_PID(LOG_PIDA_MSG, g2.attitude_control.get_throttle_speed_pid().get_pid_info());
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// log pitch control for balance bots
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if (is_balancebot()) {
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DataFlash.Log_Write_PID(LOG_PIDP_MSG, g2.attitude_control.get_pitch_to_throttle_pid().get_pid_info());
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}
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}
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// Write a range finder depth message
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void Rover::Log_Write_Depth()
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{
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// only log depth on boats with working downward facing range finders
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if (!rover.is_boat() || !rangefinder.has_data_orient(ROTATION_PITCH_270)) {
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return;
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}
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// get position
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Location loc;
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if (!rover.ahrs.get_position(loc)) {
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return;
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}
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// check if new sensor reading has arrived
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uint32_t reading_ms = rangefinder.last_reading_ms(ROTATION_PITCH_270);
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if (reading_ms == rangefinder_last_reading_ms) {
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return;
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}
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rangefinder_last_reading_ms = reading_ms;
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DataFlash.Log_Write("DPTH", "TimeUS,Lat,Lng,Depth",
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"sDUm", "FGG0", "QLLf",
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AP_HAL::micros64(),
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loc.lat,
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loc.lng,
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(double)(rangefinder.distance_cm_orient(ROTATION_PITCH_270) * 0.01f));
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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 Rover::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.WriteBlock(&pkt, sizeof(pkt));
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}
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// guided mode logging
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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 Rover::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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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 wp_distance;
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uint16_t wp_bearing_cd;
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uint16_t nav_bearing_cd;
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uint16_t yaw;
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float xtrack_error;
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};
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// Write a navigation tuning packet
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void Rover::Log_Write_Nav_Tuning()
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{
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struct log_Nav_Tuning pkt = {
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LOG_PACKET_HEADER_INIT(LOG_NTUN_MSG),
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time_us : AP_HAL::micros64(),
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wp_distance : control_mode->get_distance_to_destination(),
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wp_bearing_cd : (uint16_t)wrap_360_cd(nav_controller->target_bearing_cd()),
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nav_bearing_cd : (uint16_t)wrap_360_cd(nav_controller->nav_bearing_cd()),
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yaw : (uint16_t)ahrs.yaw_sensor,
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xtrack_error : nav_controller->crosstrack_error()
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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void Rover::Log_Write_Proximity()
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{
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DataFlash.Log_Write_Proximity(g2.proximity);
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}
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struct PACKED log_Steering {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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int16_t steering_in;
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float steering_out;
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float desired_lat_accel;
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float lat_accel;
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float desired_turn_rate;
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float turn_rate;
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};
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struct PACKED log_Startup {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t startup_type;
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uint16_t command_total;
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};
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void Rover::Log_Write_Startup(uint8_t type)
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{
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struct log_Startup pkt = {
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LOG_PACKET_HEADER_INIT(LOG_STARTUP_MSG),
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time_us : AP_HAL::micros64(),
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startup_type : type,
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command_total : mission.num_commands()
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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// Write a steering packet
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void Rover::Log_Write_Steering()
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{
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float lat_accel = DataFlash.quiet_nanf();
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g2.attitude_control.get_lat_accel(lat_accel);
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struct log_Steering pkt = {
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LOG_PACKET_HEADER_INIT(LOG_STEERING_MSG),
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time_us : AP_HAL::micros64(),
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steering_in : channel_steer->get_control_in(),
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steering_out : g2.motors.get_steering(),
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desired_lat_accel : g2.attitude_control.get_desired_lat_accel(),
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lat_accel : lat_accel,
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desired_turn_rate : degrees(g2.attitude_control.get_desired_turn_rate()),
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turn_rate : degrees(ahrs.get_yaw_rate_earth())
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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struct PACKED log_Throttle {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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int16_t throttle_in;
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float throttle_out;
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float desired_speed;
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float speed;
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float accel_y;
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};
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// Write a throttle control packet
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void Rover::Log_Write_Throttle()
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{
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const Vector3f accel = ins.get_accel();
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float speed = DataFlash.quiet_nanf();
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g2.attitude_control.get_forward_speed(speed);
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struct log_Throttle pkt = {
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LOG_PACKET_HEADER_INIT(LOG_THR_MSG),
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time_us : AP_HAL::micros64(),
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throttle_in : channel_throttle->get_control_in(),
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throttle_out : g2.motors.get_throttle(),
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desired_speed : g2.attitude_control.get_desired_speed(),
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speed : speed,
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accel_y : accel.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_Rangefinder {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float lateral_accel;
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uint16_t rangefinder1_distance;
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uint16_t rangefinder2_distance;
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uint16_t detected_count;
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int8_t turn_angle;
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uint16_t turn_time;
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uint16_t ground_speed;
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int8_t throttle;
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};
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// Write a rangefinder packet
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void Rover::Log_Write_Rangefinder()
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{
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uint16_t turn_time = 0;
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if (!is_zero(obstacle.turn_angle)) {
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turn_time = AP_HAL::millis() - obstacle.detected_time_ms;
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}
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AP_RangeFinder_Backend *s0 = rangefinder.get_backend(0);
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AP_RangeFinder_Backend *s1 = rangefinder.get_backend(1);
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struct log_Rangefinder pkt = {
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LOG_PACKET_HEADER_INIT(LOG_RANGEFINDER_MSG),
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time_us : AP_HAL::micros64(),
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lateral_accel : g2.attitude_control.get_desired_lat_accel(),
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rangefinder1_distance : s0 ? s0->distance_cm() : (uint16_t)0,
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rangefinder2_distance : s1 ? s1->distance_cm() : (uint16_t)0,
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detected_count : obstacle.detected_count,
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turn_angle : static_cast<int8_t>(obstacle.turn_angle),
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turn_time : turn_time,
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ground_speed : static_cast<uint16_t>(fabsf(ground_speed * 100.0f)),
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throttle : int8_t(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle))
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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void Rover::Log_Write_RC(void)
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{
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DataFlash.Log_Write_RCIN();
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DataFlash.Log_Write_RCOUT();
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if (rssi.enabled()) {
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DataFlash.Log_Write_RSSI(rssi);
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}
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}
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// wheel encoder packet
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struct PACKED log_WheelEncoder {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float distance_0;
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uint8_t quality_0;
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float rpm_0;
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float distance_1;
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uint8_t quality_1;
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float rpm_1;
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};
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// log wheel encoder information
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void Rover::Log_Write_WheelEncoder()
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{
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// return immediately if no wheel encoders are enabled
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if (!g2.wheel_encoder.enabled(0) && !g2.wheel_encoder.enabled(1)) {
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return;
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}
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struct log_WheelEncoder pkt = {
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LOG_PACKET_HEADER_INIT(LOG_WHEELENCODER_MSG),
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time_us : AP_HAL::micros64(),
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distance_0 : g2.wheel_encoder.get_distance(0),
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quality_0 : (uint8_t)constrain_float(g2.wheel_encoder.get_signal_quality(0), 0.0f, 100.0f),
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rpm_0 : wheel_encoder_rpm[0],
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distance_1 : g2.wheel_encoder.get_distance(1),
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quality_1 : (uint8_t)constrain_float(g2.wheel_encoder.get_signal_quality(1), 0.0f, 100.0f),
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rpm_1 : wheel_encoder_rpm[1]
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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void Rover::Log_Write_Vehicle_Startup_Messages()
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{
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// only 200(?) bytes are guaranteed by DataFlash
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Log_Write_Startup(TYPE_GROUNDSTART_MSG);
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DataFlash.Log_Write_Mode(control_mode->mode_number(), control_mode_reason);
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ahrs.Log_Write_Home_And_Origin();
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gps.Write_DataFlash_Log_Startup_messages();
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}
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// type and unit information can be found in
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// libraries/DataFlash/Logstructure.h; search for "log_Units" for
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// units and "Format characters" for field type information
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const LogStructure Rover::log_structure[] = {
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LOG_COMMON_STRUCTURES,
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{ LOG_STARTUP_MSG, sizeof(log_Startup),
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"STRT", "QBH", "TimeUS,SType,CTot", "s--", "F--" },
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{ LOG_THR_MSG, sizeof(log_Throttle),
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"THR", "Qhffff", "TimeUS,ThrIn,ThrOut,DesSpeed,Speed,AccY", "s--nno", "F--000" },
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{ LOG_NTUN_MSG, sizeof(log_Nav_Tuning),
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"NTUN", "QfHHHf", "TimeUS,WpDist,WpBrg,DesYaw,Yaw,XTrack", "smdddm", "F0BBB0" },
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{ LOG_RANGEFINDER_MSG, sizeof(log_Rangefinder),
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"RGFD", "QfHHHbHCb", "TimeUS,LatAcc,R1Dist,R2Dist,DCnt,TAng,TTim,Spd,Thr", "somm-hsm-", "F0BB-0CB-" },
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{ LOG_ARM_DISARM_MSG, sizeof(log_Arm_Disarm),
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"ARM", "QBH", "TimeUS,ArmState,ArmChecks", "s--", "F--" },
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{ LOG_STEERING_MSG, sizeof(log_Steering),
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"STER", "Qhfffff", "TimeUS,SteerIn,SteerOut,DesLatAcc,LatAcc,DesTurnRate,TurnRate", "s--ookk", "F--0000" },
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{ LOG_GUIDEDTARGET_MSG, sizeof(log_GuidedTarget),
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"GUID", "QBffffff", "TimeUS,Type,pX,pY,pZ,vX,vY,vZ", "s-mmmnnn", "F-000000" },
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{ LOG_ERROR_MSG, sizeof(log_Error),
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"ERR", "QBB", "TimeUS,Subsys,ECode", "s--", "F--" },
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{ LOG_WHEELENCODER_MSG, sizeof(log_WheelEncoder),
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"WENC", "Qfbffbf", "TimeUS,Dist0,Qual0,RPM0,Dist1,Qual1,RPM1", "sm-qm-q", "F0--0--" },
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};
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void Rover::log_init(void)
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{
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DataFlash.Init(log_structure, ARRAY_SIZE(log_structure));
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}
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#else // LOGGING_ENABLED
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// dummy functions
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void Rover::Log_Write_Arm_Disarm() {}
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void Rover::Log_Write_Attitude() {}
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void Rover::Log_Write_Depth() {}
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void Rover::Log_Write_Error(uint8_t sub_system, uint8_t error_code) {}
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void Rover::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
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void Rover::Log_Write_Nav_Tuning() {}
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void Rover::Log_Write_Proximity() {}
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void Rover::Log_Write_Startup(uint8_t type) {}
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void Rover::Log_Write_Throttle() {}
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void Rover::Log_Write_Rangefinder() {}
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void Rover::Log_Write_RC(void) {}
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void Rover::Log_Write_Steering() {}
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void Rover::Log_Write_WheelEncoder() {}\
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void Rover::Log_Write_Vehicle_Startup_Messages() {}
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#endif // LOGGING_ENABLED
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