mirror of https://github.com/ArduPilot/ardupilot
130 lines
3.5 KiB
C++
130 lines
3.5 KiB
C++
#include "Tracker.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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// Write an attitude packet
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void Tracker::Log_Write_Attitude()
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{
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Vector3f targets;
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targets.y = nav_status.pitch * 100.0f;
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targets.z = wrap_360_cd(nav_status.bearing * 100.0f);
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DataFlash.Log_Write_Attitude(ahrs, targets);
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DataFlash.Log_Write_EKF(ahrs,false);
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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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void Tracker::Log_Write_Baro(void)
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{
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DataFlash.Log_Write_Baro(barometer);
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}
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struct PACKED log_Vehicle_Baro {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float press;
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float alt_diff;
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};
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// Write a vehicle baro packet
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void Tracker::Log_Write_Vehicle_Baro(float pressure, float altitude)
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{
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struct log_Vehicle_Baro pkt = {
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LOG_PACKET_HEADER_INIT(LOG_V_BAR_MSG),
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time_us : AP_HAL::micros64(),
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press : pressure,
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alt_diff : altitude
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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struct PACKED log_Vehicle_Pos {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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int32_t vehicle_lat;
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int32_t vehicle_lng;
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int32_t vehicle_alt;
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float vehicle_vel_x;
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float vehicle_vel_y;
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float vehicle_vel_z;
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};
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// Write a vehicle pos packet
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void Tracker::Log_Write_Vehicle_Pos(int32_t lat, int32_t lng, int32_t alt, const Vector3f& vel)
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{
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struct log_Vehicle_Pos pkt = {
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LOG_PACKET_HEADER_INIT(LOG_V_POS_MSG),
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time_us : AP_HAL::micros64(),
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vehicle_lat : lat,
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vehicle_lng : lng,
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vehicle_alt : alt,
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vehicle_vel_x : vel.x,
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vehicle_vel_y : vel.y,
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vehicle_vel_z : vel.z,
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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const struct LogStructure Tracker::log_structure[] = {
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LOG_COMMON_STRUCTURES,
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{LOG_V_BAR_MSG, sizeof(log_Vehicle_Baro),
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"VBAR", "Qff", "TimeUS,Press,AltDiff" },
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{LOG_V_POS_MSG, sizeof(log_Vehicle_Pos),
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"VPOS", "QLLefff", "TimeUS,Lat,Lng,Alt,VelX,VelY,VelZ" }
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};
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void Tracker::Log_Write_Vehicle_Startup_Messages()
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{
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DataFlash.Log_Write_Mode(control_mode);
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}
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// start a new log
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void Tracker::start_logging()
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{
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if (g.log_bitmask != 0) {
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if (!logging_started) {
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logging_started = true;
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DataFlash.setVehicle_Startup_Log_Writer(FUNCTOR_BIND(&tracker, &Tracker::Log_Write_Vehicle_Startup_Messages, void));
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DataFlash.StartNewLog();
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}
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// enable writes
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DataFlash.EnableWrites(true);
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}
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}
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void Tracker::log_init(void)
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{
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DataFlash.Init(log_structure, ARRAY_SIZE(log_structure));
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if (!DataFlash.CardInserted()) {
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gcs_send_text(MAV_SEVERITY_WARNING, "No dataflash card inserted");
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} else if (DataFlash.NeedPrep()) {
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gcs_send_text(MAV_SEVERITY_INFO, "Preparing log system");
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DataFlash.Prep();
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gcs_send_text(MAV_SEVERITY_INFO, "Prepared log system");
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for (uint8_t i=0; i<num_gcs; i++) {
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gcs_chan[i].reset_cli_timeout();
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}
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}
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if (g.log_bitmask != 0) {
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start_logging();
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}
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}
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#else // LOGGING_ENABLED
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void Tracker::Log_Write_Attitude(void) {}
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void Tracker::Log_Write_Baro(void) {}
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void Tracker::start_logging() {}
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void Tracker::log_init(void) {}
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void Tracker::Log_Write_Vehicle_Pos(int32_t lat, int32_t lng, int32_t alt, const Vector3f& vel) {}
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void Tracker::Log_Write_Vehicle_Baro(float pressure, float altitude) {}
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#endif // LOGGING_ENABLED
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