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DataFlash: Log integer version of mission

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This is higher precision the casting to float, and better matches the
internal format we actually use. Removed the indicection as it gained us
nothing. Closes #8875
This commit is contained in:
Michael du Breuil 2018-11-24 20:10:07 -07:00 committed by Tom Pittenger
parent 3296b1c7f7
commit 3ee675ad42
4 changed files with 21 additions and 30 deletions
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1
libraries/DataFlash/DataFlash.h
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@ -121,7 +121,6 @@ public:
#if AP_AHRS_NAVEKF_AVAILABLE
void Log_Write_EKF(AP_AHRS_NavEKF &ahrs);
#endif
bool Log_Write_MavCmd(uint16_t cmd_total, const mavlink_mission_item_t& mav_cmd);
void Log_Write_Radio(const mavlink_radio_t &packet);
void Log_Write_Message(const char *message);
void Log_Write_MessageF(const char *fmt, ...);

1
libraries/DataFlash/DataFlash_Backend.h
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@ -89,7 +89,6 @@ public:
void Log_Write_EntireMission(const AP_Mission &mission);
bool Log_Write_Format(const struct LogStructure *structure);
bool Log_Write_MavCmd(uint16_t cmd_total, const mavlink_mission_item_t& mav_cmd);
bool Log_Write_Message(const char *message);
bool Log_Write_MessageF(const char *fmt, ...);
bool Log_Write_Mission_Cmd(const AP_Mission &mission,

43
libraries/DataFlash/LogFile.cpp
View File

@ -409,13 +409,27 @@ void DataFlash_Class::Log_Write_Vibration()
WriteBlock(&pkt, sizeof(pkt));
}
// Write a mission command. Total length : 36 bytes
bool DataFlash_Backend::Log_Write_Mission_Cmd(const AP_Mission &mission,
const AP_Mission::Mission_Command &cmd)
{
mavlink_mission_item_t mav_cmd = {};
AP_Mission::mission_cmd_to_mavlink(cmd,mav_cmd);
return Log_Write_MavCmd(mission.num_commands(),mav_cmd);
mavlink_mission_item_int_t mav_cmd = {};
AP_Mission::mission_cmd_to_mavlink_int(cmd,mav_cmd);
struct log_Cmd pkt = {
LOG_PACKET_HEADER_INIT(LOG_CMD_MSG),
time_us : AP_HAL::micros64(),
command_total : mission.num_commands(),
sequence : mav_cmd.seq,
command : mav_cmd.command,
param1 : mav_cmd.param1,
param2 : mav_cmd.param2,
param3 : mav_cmd.param3,
param4 : mav_cmd.param4,
latitude : mav_cmd.x,
longitude : mav_cmd.y,
altitude : mav_cmd.z,
frame : mav_cmd.frame
};
return WriteBlock(&pkt, sizeof(pkt));
}
void DataFlash_Backend::Log_Write_EntireMission(const AP_Mission &mission)
@ -1276,27 +1290,6 @@ void DataFlash_Class::Log_Write_EKF3(AP_AHRS_NavEKF &ahrs)
}
#endif
// Write a command processing packet
bool DataFlash_Backend::Log_Write_MavCmd(uint16_t cmd_total, const mavlink_mission_item_t& mav_cmd)
{
struct log_Cmd pkt = {
LOG_PACKET_HEADER_INIT(LOG_CMD_MSG),
time_us : AP_HAL::micros64(),
command_total : (uint16_t)cmd_total,
sequence : (uint16_t)mav_cmd.seq,
command : (uint16_t)mav_cmd.command,
param1 : (float)mav_cmd.param1,
param2 : (float)mav_cmd.param2,
param3 : (float)mav_cmd.param3,
param4 : (float)mav_cmd.param4,
latitude : (float)mav_cmd.x,
longitude : (float)mav_cmd.y,
altitude : (float)mav_cmd.z,
frame : (uint8_t)mav_cmd.frame
};
return WriteBlock(&pkt, sizeof(pkt));
}
void DataFlash_Class::Log_Write_Radio(const mavlink_radio_t &packet)
{
struct log_Radio pkt = {

6
libraries/DataFlash/LogStructure.h
View File

@ -625,8 +625,8 @@ struct PACKED log_Cmd {
float param2;
float param3;
float param4;
float latitude;
float longitude;
int32_t latitude;
int32_t longitude;
float altitude;
uint8_t frame;
};
@ -1225,7 +1225,7 @@ Format characters in the format string for binary log messages
{ LOG_POWR_MSG, sizeof(log_POWR), \
"POWR","QffHB","TimeUS,Vcc,VServo,Flags,Safety", "svv--", "F00--" }, \
{ LOG_CMD_MSG, sizeof(log_Cmd), \
"CMD", "QHHHfffffffB","TimeUS,CTot,CNum,CId,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt,Frame", "s-------DUm-", "F-------GG0-" }, \
"CMD", "QHHHffffLLfB","TimeUS,CTot,CNum,CId,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt,Frame", "s-------DUm-", "F-------GG0-" }, \
{ LOG_RADIO_MSG, sizeof(log_Radio), \
"RAD", "QBBBBBHH", "TimeUS,RSSI,RemRSSI,TxBuf,Noise,RemNoise,RxErrors,Fixed", "s-------", "F-------" }, \
{ LOG_CAMERA_MSG, sizeof(log_Camera), \