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AP_Logger: OABR correct altitude logging frame and specifier

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Josh Henderson 2021-02-26 04:31:57 -05:00 committed by Randy Mackay
parent dc793e916f
commit 070ad226ce
2 changed files with 9 additions and 5 deletions
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8
libraries/AP_Logger/LogFile.cpp
View File

@ -627,6 +627,10 @@ void AP_Logger::Write_SRTL(bool active, uint16_t num_points, uint16_t max_points
void AP_Logger::Write_OABendyRuler(uint8_t type, bool active, float target_yaw, float target_pitch, bool resist_chg, float margin, const Location &final_dest, const Location &oa_dest) void AP_Logger::Write_OABendyRuler(uint8_t type, bool active, float target_yaw, float target_pitch, bool resist_chg, float margin, const Location &final_dest, const Location &oa_dest)
{ {
int32_t oa_dest_alt, final_alt;
bool got_oa_dest = oa_dest.get_alt_cm(Location::AltFrame::ABOVE_ORIGIN, oa_dest_alt);
bool got_final_dest = final_dest.get_alt_cm(Location::AltFrame::ABOVE_ORIGIN, final_alt);
const struct log_OABendyRuler pkt{ const struct log_OABendyRuler pkt{
LOG_PACKET_HEADER_INIT(LOG_OA_BENDYRULER_MSG), LOG_PACKET_HEADER_INIT(LOG_OA_BENDYRULER_MSG),
time_us : AP_HAL::micros64(), time_us : AP_HAL::micros64(),
@ -639,10 +643,10 @@ void AP_Logger::Write_OABendyRuler(uint8_t type, bool active, float target_yaw,
margin : margin, margin : margin,
final_lat : final_dest.lat, final_lat : final_dest.lat,
final_lng : final_dest.lng, final_lng : final_dest.lng,
final_alt : final_dest.alt, final_alt : got_final_dest ? final_alt : final_dest.alt,
oa_lat : oa_dest.lat, oa_lat : oa_dest.lat,
oa_lng : oa_dest.lng, oa_lng : oa_dest.lng,
oa_alt : oa_dest.alt oa_alt : got_oa_dest ? oa_dest_alt : oa_dest.alt
}; };
WriteBlock(&pkt, sizeof(pkt)); WriteBlock(&pkt, sizeof(pkt));
} }

6
libraries/AP_Logger/LogStructure.h
View File

@ -1148,10 +1148,10 @@ struct PACKED log_PSCZ {
// @Field: Mar: Margin from path to obstacle on best yaw chosen // @Field: Mar: Margin from path to obstacle on best yaw chosen
// @Field: DLt: Destination latitude // @Field: DLt: Destination latitude
// @Field: DLg: Destination longitude // @Field: DLg: Destination longitude
// @Field: DAlt: Desired alt // @Field: DAlt: Desired alt above EKF Origin
// @Field: OLt: Intermediate location chosen for avoidance // @Field: OLt: Intermediate location chosen for avoidance
// @Field: OLg: Intermediate location chosen for avoidance // @Field: OLg: Intermediate location chosen for avoidance
// @Field: OAlt: Intermediate alt chosen for avoidance // @Field: OAlt: Intermediate alt chosen for avoidance above EKF origin
// @LoggerMessage: OADJ // @LoggerMessage: OADJ
// @Description: Object avoidance (Dijkstra) diagnostics // @Description: Object avoidance (Dijkstra) diagnostics
@ -1499,7 +1499,7 @@ LOG_STRUCTURE_FROM_CAMERA \
{ LOG_SRTL_MSG, sizeof(log_SRTL), \ { LOG_SRTL_MSG, sizeof(log_SRTL), \
"SRTL", "QBHHBfff", "TimeUS,Active,NumPts,MaxPts,Action,N,E,D", "s----mmm", "F----000" }, \ "SRTL", "QBHHBfff", "TimeUS,Active,NumPts,MaxPts,Action,N,E,D", "s----mmm", "F----000" }, \
{ LOG_OA_BENDYRULER_MSG, sizeof(log_OABendyRuler), \ { LOG_OA_BENDYRULER_MSG, sizeof(log_OABendyRuler), \
"OABR","QBBHHHBfLLfLLf","TimeUS,Type,Act,DYaw,Yaw,DP,RChg,Mar,DLt,DLg,DAlt,OLt,OLg,OAlt", "s-bddd-mDUmDUm", "F-------GGBGGB" }, \ "OABR","QBBHHHBfLLiLLi","TimeUS,Type,Act,DYaw,Yaw,DP,RChg,Mar,DLt,DLg,DAlt,OLt,OLg,OAlt", "s-bddd-mDUmDUm", "F-------GGBGGB" }, \
{ LOG_OA_DIJKSTRA_MSG, sizeof(log_OADijkstra), \ { LOG_OA_DIJKSTRA_MSG, sizeof(log_OADijkstra), \
"OADJ","QBBBBLLLL","TimeUS,State,Err,CurrPoint,TotPoints,DLat,DLng,OALat,OALng", "sbbbbDUDU", "F----GGGG" }, \ "OADJ","QBBBBLLLL","TimeUS,State,Err,CurrPoint,TotPoints,DLat,DLng,OALat,OALng", "sbbbbDUDU", "F----GGGG" }, \
{ LOG_SIMPLE_AVOID_MSG, sizeof(log_SimpleAvoid), \ { LOG_SIMPLE_AVOID_MSG, sizeof(log_SimpleAvoid), \