mirror of https://github.com/ArduPilot/ardupilot
354 lines
11 KiB
C++
354 lines
11 KiB
C++
#include "Rover.h"
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#include <AP_RangeFinder/AP_RangeFinder_Backend.h>
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#if LOGGING_ENABLED == ENABLED
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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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ahrs.Write_Attitude(targets);
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#if AP_AHRS_NAVEKF_AVAILABLE
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AP::ahrs_navekf().Log_Write();
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ahrs.Write_AHRS2();
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#endif
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ahrs.Write_POS();
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// log steering rate controller
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logger.Write_PID(LOG_PIDS_MSG, g2.attitude_control.get_steering_rate_pid().get_pid_info());
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logger.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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logger.Write_PID(LOG_PIDP_MSG, g2.attitude_control.get_pitch_to_throttle_pid().get_pid_info());
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}
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// log heel to sail control for sailboats
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if (rover.g2.sailboat.sail_enabled()) {
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logger.Write_PID(LOG_PIDR_MSG, g2.attitude_control.get_sailboat_heel_pid().get_pid_info());
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}
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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sitl.Log_Write_SIMSTATE();
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#endif
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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 (!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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// @LoggerMessage: DPTH
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// @Description: Depth messages on boats with downwards facing range finder
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// @Field: TimeUS: Time since system startup
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// @Field: Lat: Latitude
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// @Field: Lng: Longitude
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// @Field: Depth: Depth as detected by the sensor
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logger.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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// 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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logger.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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float wp_bearing;
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float nav_bearing;
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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 : control_mode->wp_bearing(),
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nav_bearing : control_mode->nav_bearing(),
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yaw : (uint16_t)ahrs.yaw_sensor,
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xtrack_error : control_mode->crosstrack_error()
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};
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logger.WriteBlock(&pkt, sizeof(pkt));
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}
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void Rover::Log_Write_Sail()
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{
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// only log sail if present
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if (!rover.g2.sailboat.sail_enabled()) {
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return;
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}
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// get wind direction
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float wind_dir_abs = logger.quiet_nanf();
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float wind_dir_rel = logger.quiet_nanf();
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float wind_speed_true = logger.quiet_nanf();
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float wind_speed_apparent = logger.quiet_nanf();
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if (rover.g2.windvane.enabled()) {
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wind_dir_abs = degrees(g2.windvane.get_true_wind_direction_rad());
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wind_dir_rel = degrees(g2.windvane.get_apparent_wind_direction_rad());
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wind_speed_true = g2.windvane.get_true_wind_speed();
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wind_speed_apparent = g2.windvane.get_apparent_wind_speed();
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}
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// @LoggerMessage: SAIL
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// @Description: Sailboat information
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// @Field: TimeUS: Time since system startup
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// @Field: WndDrTru: True wind direction
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// @Field: WndDrApp: Apparent wind direction, in body-frame
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// @Field: WndSpdTru: True wind speed
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// @Field: WndSpdApp: Apparent wind Speed
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// @Field: MainOut: Normalized mainsail output
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// @Field: WingOut: Normalized wingsail output
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// @Field: VMG: Velocity made good (speed at which vehicle is making progress directly towards destination)
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logger.Write("SAIL", "TimeUS,WndDrTru,WndDrApp,WndSpdTru,WndSpdApp,MainOut,WingOut,VMG",
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"shhnn%%n", "F0000000", "Qfffffff",
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AP_HAL::micros64(),
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(double)wind_dir_abs,
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(double)wind_dir_rel,
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(double)wind_speed_true,
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(double)wind_speed_apparent,
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(double)g2.motors.get_mainsail(),
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(double)g2.motors.get_wingsail(),
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(double)g2.sailboat.get_VMG());
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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 : mode_auto.mission.num_commands()
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};
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logger.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 = logger.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 : control_mode->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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logger.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 = logger.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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logger.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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logger.Write_RCIN();
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logger.Write_RCOUT();
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if (rssi.enabled()) {
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logger.Write_RSSI();
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}
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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 AP_Logger
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Log_Write_Startup(TYPE_GROUNDSTART_MSG);
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logger.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_AP_Logger_Log_Startup_messages();
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}
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// type and unit information can be found in
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// libraries/AP_Logger/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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// @LoggerMessage: STRT
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// @Description: Startup messages
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// @Field: TimeUS: Time since system startup
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// @Field: SType: Type of startup
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// @Field: CTot: Total number of commands in the mission
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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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// @LoggerMessage: THR
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// @Description: Throttle related messages
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// @Field: TimeUS: Time since system startup
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// @Field: ThrIn: Throttle Input
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// @Field: ThrOut: Throttle Output
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// @Field: DesSpeed: Desired speed
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// @Field: Speed: Actual speed
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// @Field: AccY: Vehicle's acceleration in Y-Axis
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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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// @LoggerMessage: NTUN
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// @Description: Navigation Tuning information - e.g. vehicle destination
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// @URL: http://ardupilot.org/rover/docs/navigation.html
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// @Field: TimeUS: Time since system startup
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// @Field: WpDist: distance to the current navigation waypoint
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// @Field: WpBrg: bearing to the current navigation waypoint
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// @Field: DesYaw: the vehicle's desired heading
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// @Field: Yaw: the vehicle's current heading
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// @Field: XTrack: the vehicle's current distance from the current travel segment
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{ LOG_NTUN_MSG, sizeof(log_Nav_Tuning),
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"NTUN", "QfffHf", "TimeUS,WpDist,WpBrg,DesYaw,Yaw,XTrack", "smhhdm", "F000B0" },
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// @LoggerMessage: STER
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// @Description: Steering related messages
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// @Field: TimeUS: Time since system startup
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// @Field: SteerIn: Steering input
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// @Field: SteerOut: Normalized steering output
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// @Field: DesLatAcc: Desired lateral acceleration
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// @Field: LatAcc: Actual lateral acceleration
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// @Field: DesTurnRate: Desired turn rate
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// @Field: TurnRate: Actual turn rate
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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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// @LoggerMessage: GUID
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// @Description: Guided mode target information
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// @Field: TimeUS: Time since system startup
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// @Field: Type: Type of guided mode
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// @Field: pX: Target position, X-Axis
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// @Field: pY: Target position, Y-Axis
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// @Field: pZ: Target position, Z-Axis
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// @Field: vX: Target velocity, X-Axis
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// @Field: vY: Target velocity, Y-Axis
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// @Field: vZ: Target velocity, Z-Axis
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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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};
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void Rover::log_init(void)
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{
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logger.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_Attitude() {}
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void Rover::Log_Write_Depth() {}
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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_Sail() {}
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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_RC(void) {}
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void Rover::Log_Write_Steering() {}
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void Rover::Log_Write_Vehicle_Startup_Messages() {}
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#endif // LOGGING_ENABLED
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