ardupilot/libraries/AP_AHRS/AP_AHRS_Logging.cpp

143 lines
4.9 KiB
C++

#include "AP_AHRS.h"
#include <AP_Logger/AP_Logger.h>
#include <AC_AttitudeControl/AC_AttitudeControl.h>
#include <AC_AttitudeControl/AC_PosControl.h>
// Write an AHRS2 packet
void AP_AHRS_Backend::Write_AHRS2() const
{
Vector3f euler;
struct Location loc;
Quaternion quat;
if (!get_secondary_attitude(euler) || !get_secondary_position(loc) || !get_secondary_quaternion(quat)) {
return;
}
const struct log_AHRS pkt{
LOG_PACKET_HEADER_INIT(LOG_AHR2_MSG),
time_us : AP_HAL::micros64(),
roll : (int16_t)(degrees(euler.x)*100),
pitch : (int16_t)(degrees(euler.y)*100),
yaw : (uint16_t)(wrap_360_cd(degrees(euler.z)*100)),
alt : loc.alt*1.0e-2f,
lat : loc.lat,
lng : loc.lng,
q1 : quat.q1,
q2 : quat.q2,
q3 : quat.q3,
q4 : quat.q4,
};
AP::logger().WriteBlock(&pkt, sizeof(pkt));
}
// Write AOA and SSA
void AP_AHRS::Write_AOA_SSA(void) const
{
const struct log_AOA_SSA aoa_ssa{
LOG_PACKET_HEADER_INIT(LOG_AOA_SSA_MSG),
time_us : AP_HAL::micros64(),
AOA : getAOA(),
SSA : getSSA()
};
AP::logger().WriteBlock(&aoa_ssa, sizeof(aoa_ssa));
}
// Write an attitude packet
void AP_AHRS_Backend::Write_Attitude(const Vector3f &targets) const
{
const struct log_Attitude pkt{
LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG),
time_us : AP_HAL::micros64(),
control_roll : (int16_t)targets.x,
roll : (int16_t)roll_sensor,
control_pitch : (int16_t)targets.y,
pitch : (int16_t)pitch_sensor,
control_yaw : (uint16_t)wrap_360_cd(targets.z),
yaw : (uint16_t)wrap_360_cd(yaw_sensor),
error_rp : (uint16_t)(get_error_rp() * 100),
error_yaw : (uint16_t)(get_error_yaw() * 100),
active : AP::ahrs().get_active_AHRS_type(),
};
AP::logger().WriteBlock(&pkt, sizeof(pkt));
}
void AP_AHRS_Backend::Write_Origin(uint8_t origin_type, const Location &loc) const
{
const struct log_ORGN pkt{
LOG_PACKET_HEADER_INIT(LOG_ORGN_MSG),
time_us : AP_HAL::micros64(),
origin_type : origin_type,
latitude : loc.lat,
longitude : loc.lng,
altitude : loc.alt
};
AP::logger().WriteBlock(&pkt, sizeof(pkt));
}
// Write a POS packet
void AP_AHRS_Backend::Write_POS() const
{
Location loc;
if (!get_position(loc)) {
return;
}
float home, origin;
AP::ahrs().get_relative_position_D_home(home);
const struct log_POS pkt{
LOG_PACKET_HEADER_INIT(LOG_POS_MSG),
time_us : AP_HAL::micros64(),
lat : loc.lat,
lng : loc.lng,
alt : loc.alt*1.0e-2f,
rel_home_alt : -home,
rel_origin_alt : get_relative_position_D_origin(origin) ? -origin : AP::logger().quiet_nanf(),
};
AP::logger().WriteBlock(&pkt, sizeof(pkt));
}
// Write an attitude view packet
void AP_AHRS_View::Write_AttitudeView(const Vector3f &targets) const
{
const struct log_Attitude pkt{
LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG),
time_us : AP_HAL::micros64(),
control_roll : (int16_t)targets.x,
roll : (int16_t)roll_sensor,
control_pitch : (int16_t)targets.y,
pitch : (int16_t)pitch_sensor,
control_yaw : (uint16_t)wrap_360_cd(targets.z),
yaw : (uint16_t)wrap_360_cd(yaw_sensor),
error_rp : (uint16_t)(get_error_rp() * 100),
error_yaw : (uint16_t)(get_error_yaw() * 100),
active : AP::ahrs().get_active_AHRS_type()
};
AP::logger().WriteBlock(&pkt, sizeof(pkt));
}
// Write a rate packet
void AP_AHRS_View::Write_Rate(const AP_Motors &motors, const AC_AttitudeControl &attitude_control,
const AC_PosControl &pos_control) const
{
const Vector3f &rate_targets = attitude_control.rate_bf_targets();
const Vector3f &accel_target = pos_control.get_accel_target_cmss();
const struct log_Rate pkt_rate{
LOG_PACKET_HEADER_INIT(LOG_RATE_MSG),
time_us : AP_HAL::micros64(),
control_roll : degrees(rate_targets.x),
roll : degrees(get_gyro().x),
roll_out : motors.get_roll(),
control_pitch : degrees(rate_targets.y),
pitch : degrees(get_gyro().y),
pitch_out : motors.get_pitch(),
control_yaw : degrees(rate_targets.z),
yaw : degrees(get_gyro().z),
yaw_out : motors.get_yaw(),
control_accel : (float)accel_target.z,
accel : (float)(-(get_accel_ef_blended().z + GRAVITY_MSS) * 100.0f),
accel_out : motors.get_throttle()
};
AP::logger().WriteBlock(&pkt_rate, sizeof(pkt_rate));
}