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Copter : Update logging for new PX4Flow sensor interface

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priseborough 2014-10-31 23:46:59 +11:00 committed by Andrew Tridgell
parent 20e715aa13
commit 23953b459e
1 changed files with 11 additions and 13 deletions
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24
ArduCopter/Log.pde
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@ -241,11 +241,10 @@ struct PACKED log_Optflow {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint32_t time_ms; uint32_t time_ms;
uint8_t surface_quality; uint8_t surface_quality;
int16_t raw_x; float flow_x;
int16_t raw_y; float flow_y;
float vel_x; float body_x;
float vel_y; float body_y;
float dist;
}; };
// Write an optical flow packet // Write an optical flow packet
@ -256,17 +255,16 @@ static void Log_Write_Optflow()
if (!optflow.enabled()) { if (!optflow.enabled()) {
return; return;
} }
const Vector2i &raw = optflow.raw(); const Vector2f &flowRate = optflow.flowRate();
const Vector2f &vel = optflow.velocity(); const Vector2f &bodyRate = optflow.bodyRate();
struct log_Optflow pkt = { struct log_Optflow pkt = {
LOG_PACKET_HEADER_INIT(LOG_OPTFLOW_MSG), LOG_PACKET_HEADER_INIT(LOG_OPTFLOW_MSG),
time_ms : hal.scheduler->millis(), time_ms : hal.scheduler->millis(),
surface_quality : optflow.quality(), surface_quality : optflow.quality(),
raw_x : raw.x, flow_x : flowRate.x,
raw_y : raw.y, flow_y : flowRate.y,
vel_x : vel.x, body_x : bodyRate.x,
vel_y : vel.y, body_y : bodyRate.y
dist : optflow.ground_distance_m()
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); DataFlash.WriteBlock(&pkt, sizeof(pkt));
#endif // OPTFLOW == ENABLED #endif // OPTFLOW == ENABLED
@ -676,7 +674,7 @@ static const struct LogStructure log_structure[] PROGMEM = {
{ LOG_CURRENT_MSG, sizeof(log_Current), { LOG_CURRENT_MSG, sizeof(log_Current),
"CURR", "IhIhhhf", "TimeMS,ThrOut,ThrInt,Volt,Curr,Vcc,CurrTot" }, "CURR", "IhIhhhf", "TimeMS,ThrOut,ThrInt,Volt,Curr,Vcc,CurrTot" },
{ LOG_OPTFLOW_MSG, sizeof(log_Optflow), { LOG_OPTFLOW_MSG, sizeof(log_Optflow),
"OF", "IBhhfff", "TimeMS,Qual,RawX,RawY,VelX,VelY,Dist" }, "OF", "IBffff", "TimeMS,Qual,flowX,flowY,bodyX,bodyY" },
{ LOG_NAV_TUNING_MSG, sizeof(log_Nav_Tuning), { LOG_NAV_TUNING_MSG, sizeof(log_Nav_Tuning),
"NTUN", "Iffffffffff", "TimeMS,DPosX,DPosY,PosX,PosY,DVelX,DVelY,VelX,VelY,DAccX,DAccY" }, "NTUN", "Iffffffffff", "TimeMS,DPosX,DPosY,PosX,PosY,DVelX,DVelY,VelX,VelY,DAccX,DAccY" },
{ LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning), { LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning),