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AP_Camera: log image number

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Randy Mackay 2023-02-22 20:38:36 +09:00 committed by Andrew Tridgell
parent bfa15133c7
commit 1977005bd9
2 changed files with 8 additions and 5 deletions
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1
libraries/AP_Camera/AP_Camera_Logging.cpp
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@ -45,6 +45,7 @@ void AP_Camera_Backend::Write_CameraInfo(enum LogMessages msg, uint64_t timestam
LOG_PACKET_HEADER_INIT(static_cast<uint8_t>(msg)),
time_us : timestamp_us ? timestamp_us : AP_HAL::micros64(),
instance : _instance,
image_number: image_index,
gps_time : gps.time_week_ms(),
gps_week : gps.time_week(),
latitude : current_loc.lat,

12
libraries/AP_Camera/LogStructure.h
View File

@ -10,6 +10,7 @@
// @Description: Camera shutter information
// @Field: TimeUS: Time since system startup
// @Field: I: Instance number
// @Field: Img: Image number
// @Field: GPSTime: milliseconds since start of GPS week
// @Field: GPSWeek: weeks since 5 Jan 1980
// @Field: Lat: current latitude
@ -17,13 +18,14 @@
// @Field: Alt: current altitude
// @Field: RelAlt: current altitude relative to home
// @Field: GPSAlt: altitude as reported by GPS
// @Field: Roll: current vehicle roll
// @Field: Pit: current vehicle pitch
// @Field: Yaw: current vehicle yaw
// @Field: R: current vehicle roll
// @Field: P: current vehicle pitch
// @Field: Y: current vehicle yaw
struct PACKED log_Camera {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t instance;
uint16_t image_number;
uint32_t gps_time;
uint16_t gps_week;
int32_t latitude;
@ -38,6 +40,6 @@ struct PACKED log_Camera {
#define LOG_STRUCTURE_FROM_CAMERA \
{ LOG_CAMERA_MSG, sizeof(log_Camera), \
"CAM", "QBIHLLeeeccC","TimeUS,I,GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,GPSAlt,Roll,Pit,Yaw", "s#--DUmmmddd", "F---GGBBBBBB" }, \
"CAM", "QBHIHLLeeeccC","TimeUS,I,Img,GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,GPSAlt,R,P,Y", "s#---DUmmmddd", "F----GGBBBBBB" }, \
{ LOG_TRIGGER_MSG, sizeof(log_Camera), \
"TRIG", "QBIHLLeeeccC","TimeUS,I,GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,GPSAlt,Roll,Pit,Yaw", "s#--DUmmmddd", "F---GGBBBBBB" },
"TRIG", "QBHIHLLeeeccC","TimeUS,I,Img,GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,GPSAlt,R,P,Y", "s#---DUmmmddd", "F----GGBBBBBB" },