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Copter: log INS errors in PM message

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This commit is contained in:
Randy Mackay 2013-11-18 12:16:21 +09:00
parent 7046f44443
commit 1359a8fea5
1 changed files with 4 additions and 4 deletions
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8
ArduCopter/Log.pde
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@ -427,12 +427,12 @@ struct PACKED log_Performance {
LOG_PACKET_HEADER;
uint8_t renorm_count;
uint8_t renorm_blowup;
uint8_t gps_fix_count;
uint16_t num_long_running;
uint16_t num_loops;
uint32_t max_time;
int16_t pm_test;
uint8_t i2c_lockup_count;
uint16_t ins_error_count;
};
// Write a performance monitoring packet
@ -442,12 +442,12 @@ static void Log_Write_Performance()
LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG),
renorm_count : ahrs.renorm_range_count,
renorm_blowup : ahrs.renorm_blowup_count,
gps_fix_count : gps_fix_count,
num_long_running : perf_info_get_num_long_running(),
num_loops : perf_info_get_num_loops(),
max_time : perf_info_get_max_time(),
pm_test : pmTest1,
i2c_lockup_count : hal.i2c->lockup_count()
i2c_lockup_count : hal.i2c->lockup_count(),
ins_error_count : ins.error_count()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
@ -794,7 +794,7 @@ static const struct LogStructure log_structure[] PROGMEM = {
{ LOG_COMPASS_MSG, sizeof(log_Compass),
"MAG", "hhhhhhhhh", "MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ" },
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "BBBHHIhB", "RenCnt,RenBlw,FixCnt,NLon,NLoop,MaxT,PMT,I2CErr" },
"PM", "BBHHIhBH", "RenCnt,RenBlw,NLon,NLoop,MaxT,PMT,I2CErr,INSErr" },
{ LOG_CMD_MSG, sizeof(log_Cmd),
"CMD", "BBBBBeLL", "CTot,CNum,CId,COpt,Prm1,Alt,Lat,Lng" },
{ LOG_ATTITUDE_MSG, sizeof(log_Attitude),