aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

DataFlash: log range finder orientation

Browse Source
This commit is contained in:
Randy Mackay 2017-02-27 10:31:59 +09:00
parent 6798162a98
commit 2b43c6aeed
2 changed files with 6 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/DataFlash/LogFile.cpp
View File

@ -754,7 +754,9 @@ void DataFlash_Class::Log_Write_RFND(const RangeFinder &rangefinder)
LOG_PACKET_HEADER_INIT((uint8_t)(LOG_RFND_MSG)), LOG_PACKET_HEADER_INIT((uint8_t)(LOG_RFND_MSG)),
time_us : AP_HAL::micros64(), time_us : AP_HAL::micros64(),
dist1 : rangefinder.distance_cm(0), dist1 : rangefinder.distance_cm(0),
dist2 : rangefinder.distance_cm(1) orient1 : rangefinder.get_orientation(0),
dist2 : rangefinder.distance_cm(1),
orient2 : rangefinder.get_orientation(1)
}; };
WriteBlock(&pkt, sizeof(pkt)); WriteBlock(&pkt, sizeof(pkt));
} }

4
libraries/DataFlash/LogStructure.h
View File

@ -512,7 +512,9 @@ struct PACKED log_RFND {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint64_t time_us; uint64_t time_us;
uint16_t dist1; uint16_t dist1;
uint8_t orient1;
uint16_t dist2; uint16_t dist2;
uint8_t orient2;
}; };
/* /*
@ -823,7 +825,7 @@ Format characters in the format string for binary log messages
{ LOG_MODE_MSG, sizeof(log_Mode), \ { LOG_MODE_MSG, sizeof(log_Mode), \
"MODE", "QMBB", "TimeUS,Mode,ModeNum,Rsn" }, \ "MODE", "QMBB", "TimeUS,Mode,ModeNum,Rsn" }, \
{ LOG_RFND_MSG, sizeof(log_RFND), \ { LOG_RFND_MSG, sizeof(log_RFND), \
"RFND", "QCC", "TimeUS,Dist1,Dist2" }, \ "RFND", "QCBCB", "TimeUS,Dist1,Orient1,Dist2,Orient2" }, \
{ LOG_DF_MAV_STATS, sizeof(log_DF_MAV_Stats), \ { LOG_DF_MAV_STATS, sizeof(log_DF_MAV_Stats), \
"DMS", "IIIIIBBBBBBBBBB", "TimeMS,N,Dp,RT,RS,Er,Fa,Fmn,Fmx,Pa,Pmn,Pmx,Sa,Smn,Smx" } "DMS", "IIIIIBBBBBBBBBB", "TimeMS,N,Dp,RT,RS,Er,Fa,Fmn,Fmx,Pa,Pmn,Pmx,Sa,Smn,Smx" }