mirror of https://github.com/ArduPilot/ardupilot
150 lines
3.7 KiB
C++
150 lines
3.7 KiB
C++
#include "AP_Stats.h"
|
|
|
|
#include <AP_Math/AP_Math.h>
|
|
#include <AP_RTC/AP_RTC.h>
|
|
|
|
const extern AP_HAL::HAL& hal;
|
|
|
|
// table of user settable parameters
|
|
const AP_Param::GroupInfo AP_Stats::var_info[] = {
|
|
|
|
// @Param: _BOOTCNT
|
|
// @DisplayName: Boot Count
|
|
// @Description: Number of times board has been booted
|
|
// @ReadOnly: True
|
|
// @User: Standard
|
|
AP_GROUPINFO("_BOOTCNT", 0, AP_Stats, params.bootcount, 0),
|
|
|
|
// @Param: _FLTTIME
|
|
// @DisplayName: Total FlightTime
|
|
// @Description: Total FlightTime (seconds)
|
|
// @Units: s
|
|
// @ReadOnly: True
|
|
// @User: Standard
|
|
AP_GROUPINFO("_FLTTIME", 1, AP_Stats, params.flttime, 0),
|
|
|
|
// @Param: _RUNTIME
|
|
// @DisplayName: Total RunTime
|
|
// @Description: Total time autopilot has run
|
|
// @Units: s
|
|
// @ReadOnly: True
|
|
// @User: Standard
|
|
AP_GROUPINFO("_RUNTIME", 2, AP_Stats, params.runtime, 0),
|
|
|
|
// @Param: _RESET
|
|
// @DisplayName: Statistics Reset Time
|
|
// @Description: Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset (set to 0 to reset statistics)
|
|
// @Units: s
|
|
// @ReadOnly: True
|
|
// @User: Standard
|
|
AP_GROUPINFO("_RESET", 3, AP_Stats, params.reset, 1),
|
|
|
|
AP_GROUPEND
|
|
};
|
|
|
|
AP_Stats *AP_Stats::_singleton;
|
|
|
|
// constructor
|
|
AP_Stats::AP_Stats(void)
|
|
{
|
|
AP_Param::setup_object_defaults(this, var_info);
|
|
_singleton = this;
|
|
}
|
|
|
|
void AP_Stats::copy_variables_from_parameters()
|
|
{
|
|
flttime = params.flttime;
|
|
runtime = params.runtime;
|
|
reset = params.reset;
|
|
flttime_boot = flttime;
|
|
}
|
|
|
|
void AP_Stats::init()
|
|
{
|
|
params.bootcount.set_and_save(params.bootcount+1);
|
|
|
|
// initialise our variables from parameters:
|
|
copy_variables_from_parameters();
|
|
}
|
|
|
|
|
|
void AP_Stats::flush()
|
|
{
|
|
params.flttime.set_and_save_ifchanged(flttime);
|
|
params.runtime.set_and_save_ifchanged(runtime);
|
|
}
|
|
|
|
void AP_Stats::update_flighttime()
|
|
{
|
|
if (_flying_ms) {
|
|
WITH_SEMAPHORE(sem);
|
|
const uint32_t now = AP_HAL::millis();
|
|
const uint32_t delta = (now - _flying_ms)/1000;
|
|
flttime += delta;
|
|
_flying_ms += delta*1000;
|
|
}
|
|
}
|
|
|
|
void AP_Stats::update_runtime()
|
|
{
|
|
const uint32_t now = AP_HAL::millis();
|
|
const uint32_t delta = (now - _last_runtime_ms)/1000;
|
|
runtime += delta;
|
|
_last_runtime_ms += delta*1000;
|
|
}
|
|
|
|
void AP_Stats::update()
|
|
{
|
|
WITH_SEMAPHORE(sem);
|
|
const uint32_t now_ms = AP_HAL::millis();
|
|
if (now_ms - last_flush_ms > flush_interval_ms) {
|
|
update_flighttime();
|
|
update_runtime();
|
|
flush();
|
|
last_flush_ms = now_ms;
|
|
}
|
|
const uint32_t params_reset = params.reset;
|
|
if (params_reset != reset || params_reset == 0) {
|
|
params.bootcount.set_and_save_ifchanged(params_reset == 0 ? 1 : 0);
|
|
params.flttime.set_and_save_ifchanged(0);
|
|
params.runtime.set_and_save_ifchanged(0);
|
|
uint32_t system_clock = 0; // in seconds
|
|
uint64_t rtc_clock_us;
|
|
if (AP::rtc().get_utc_usec(rtc_clock_us)) {
|
|
system_clock = rtc_clock_us / 1000000;
|
|
// can't store Unix seconds in a 32-bit float. Change the
|
|
// time base to Jan 1st 2016:
|
|
system_clock -= 1451606400;
|
|
}
|
|
params.reset.set_and_save_ifchanged(system_clock);
|
|
copy_variables_from_parameters();
|
|
}
|
|
|
|
}
|
|
|
|
void AP_Stats::set_flying(const bool is_flying)
|
|
{
|
|
if (is_flying) {
|
|
if (!_flying_ms) {
|
|
_flying_ms = AP_HAL::millis();
|
|
}
|
|
} else {
|
|
update_flighttime();
|
|
_flying_ms = 0;
|
|
}
|
|
}
|
|
|
|
/*
|
|
get time in flight since boot
|
|
*/
|
|
uint32_t AP_Stats::get_flight_time_s(void)
|
|
{
|
|
update_flighttime();
|
|
return flttime - flttime_boot;
|
|
}
|
|
|
|
AP_Stats *AP::stats(void)
|
|
{
|
|
return AP_Stats::get_singleton();
|
|
}
|