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DataFlash: added APM time and GPS velz to logged GPS messages

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This commit is contained in:
Andrew Tridgell 2013-11-04 21:37:10 +11:00
parent b096881f81
commit 1fb636d57f
2 changed files with 4 additions and 2 deletions
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3
libraries/DataFlash/DataFlash.h
View File

@ -152,6 +152,7 @@ struct PACKED log_GPS {
uint32_t ground_speed;
int32_t ground_course;
float vel_z;
uint32_t apm_time;
};
struct PACKED log_Message {
@ -172,7 +173,7 @@ struct PACKED log_IMU {
{ LOG_PARAMETER_MSG, sizeof(log_Parameter), \
"PARM", "Nf", "Name,Value" }, \
{ LOG_GPS_MSG, sizeof(log_GPS), \
"GPS", "BIHBcLLeeEef", "Status,TimeMS,Week,NSats,HDop,Lat,Lng,RelAlt,Alt,Spd,GCrs,VelZ" }, \
"GPS", "BIHBcLLeeEefI", "Status,TimeMS,Week,NSats,HDop,Lat,Lng,RelAlt,Alt,Spd,GCrs,VZ,T" }, \
{ LOG_IMU_MSG, sizeof(log_IMU), \
"IMU", "Iffffff", "TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ" }, \
{ LOG_MESSAGE_MSG, sizeof(log_Message), \

3
libraries/DataFlash/LogFile.cpp
View File

@ -616,7 +616,8 @@ void DataFlash_Class::Log_Write_GPS(const GPS *gps, int32_t relative_alt)
altitude : gps->altitude_cm,
ground_speed : gps->ground_speed_cm,
ground_course : gps->ground_course_cd,
vel_z : gps->velocity_down()
vel_z : gps->velocity_down(),
apm_time : hal.scheduler->millis()
};
WriteBlock(&pkt, sizeof(pkt));
}