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AP_Logger: add ESC error rate

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Andy Piper 2020-11-24 22:24:08 +00:00 committed by Andrew Tridgell
parent 1c79f22ba2
commit 5436784d38
3 changed files with 7 additions and 4 deletions
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2
libraries/AP_Logger/AP_Logger.h
View File

@ -258,7 +258,7 @@ public:
void Write_CameraInfo(enum LogMessages msg, const Location &current_loc, uint64_t timestamp_us=0);
void Write_Camera(const Location &current_loc, uint64_t timestamp_us=0);
void Write_Trigger(const Location &current_loc);
void Write_ESC(uint8_t id, uint64_t time_us, int32_t rpm, uint16_t voltage, uint16_t current, int16_t esc_temp, uint16_t current_tot, int16_t motor_temp);
void Write_ESC(uint8_t id, uint64_t time_us, int32_t rpm, uint16_t voltage, uint16_t current, int16_t esc_temp, uint16_t current_tot, int16_t motor_temp, float error_rate = 0.0f);
void Write_ServoStatus(uint64_t time_us, uint8_t id, float position, float force, float speed, uint8_t power_pct);
void Write_ESCStatus(uint64_t time_us, uint8_t id, uint32_t error_count, float voltage, float current, float temperature, int32_t rpm, uint8_t power_pct);
void Write_Attitude(const Vector3f &targets);

5
libraries/AP_Logger/LogFile.cpp
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@ -718,7 +718,7 @@ bool AP_Logger_Backend::Write_Mode(uint8_t mode, const ModeReason reason)
// current is in centi-amps
// temperature is in centi-degrees Celsius
// current_tot is in centi-amp hours
void AP_Logger::Write_ESC(uint8_t instance, uint64_t time_us, int32_t rpm, uint16_t voltage, uint16_t current, int16_t esc_temp, uint16_t current_tot, int16_t motor_temp)
void AP_Logger::Write_ESC(uint8_t instance, uint64_t time_us, int32_t rpm, uint16_t voltage, uint16_t current, int16_t esc_temp, uint16_t current_tot, int16_t motor_temp, float error_rate)
{
const struct log_Esc pkt{
LOG_PACKET_HEADER_INIT(uint8_t(LOG_ESC_MSG)),
@ -729,7 +729,8 @@ void AP_Logger::Write_ESC(uint8_t instance, uint64_t time_us, int32_t rpm, uint1
current : current,
esc_temp : esc_temp,
current_tot : current_tot,
motor_temp : motor_temp
motor_temp : motor_temp,
error_rate : error_rate
};
WriteBlock(&pkt, sizeof(pkt));
}

4
libraries/AP_Logger/LogStructure.h
View File

@ -712,6 +712,7 @@ struct PACKED log_Esc {
int16_t esc_temp;
uint16_t current_tot;
int16_t motor_temp;
float error_rate;
};
struct PACKED log_CSRV {
@ -1307,6 +1308,7 @@ struct PACKED log_PSC {
// @Field: Temp: ESC temperature
// @Field: CTot: current consumed total
// @Field: MotTemp: measured motor temperature
// @Field: Err: error rate
// @LoggerMessage: EV
// @Description: Specifically coded event messages
@ -1973,7 +1975,7 @@ struct PACKED log_PSC {
{ LOG_GPS_RAWS_MSG, sizeof(log_GPS_RAWS), \
"GRXS", "QddfBBBHBBBBB", "TimeUS,prMes,cpMes,doMes,gnss,sv,freq,lock,cno,prD,cpD,doD,trk", "s------------", "F------------" }, \
{ LOG_ESC_MSG, sizeof(log_Esc), \
"ESC", "QBeCCcHc", "TimeUS,Instance,RPM,Volt,Curr,Temp,CTot,MotTemp", "s#qvAO-O", "F-BBBB-B" }, \
"ESC", "QBeCCcHcf", "TimeUS,Instance,RPM,Volt,Curr,Temp,CTot,MotTemp,Err", "s#qvAO-O%", "F-BBBB-B-" }, \
{ LOG_CSRV_MSG, sizeof(log_CSRV), \
"CSRV","QBfffB","TimeUS,Id,Pos,Force,Speed,Pow", "s#---%", "F-0000" }, \
{ LOG_CESC_MSG, sizeof(log_CESC), \