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Plane: added altitude and ground speed to NTUN logs

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This commit is contained in:
Andrew Tridgell 2013-10-31 09:54:13 +11:00
parent f4dde44b8d
commit 5a92ce4af6
1 changed files with 7 additions and 3 deletions
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10
ArduPlane/Log.pde
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@ -337,9 +337,11 @@ struct PACKED log_Nav_Tuning {
uint16_t nav_bearing_cd;
int16_t altitude_error_cm;
int16_t airspeed_cm;
float altitude;
uint32_t groundspeed_cm;
};
// Write a navigation tuning packet. Total length : 18 bytes
// Write a navigation tuning packe
static void Log_Write_Nav_Tuning()
{
struct log_Nav_Tuning pkt = {
@ -349,7 +351,9 @@ static void Log_Write_Nav_Tuning()
target_bearing_cd : (uint16_t)nav_controller->target_bearing_cd(),
nav_bearing_cd : (uint16_t)nav_controller->nav_bearing_cd(),
altitude_error_cm : (int16_t)altitude_error_cm,
airspeed_cm : (int16_t)airspeed.get_airspeed_cm()
airspeed_cm : (int16_t)airspeed.get_airspeed_cm(),
altitude : barometer.get_altitude(),
groundspeed_cm : g_gps->ground_speed_cm
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
@ -452,7 +456,7 @@ static const struct LogStructure log_structure[] PROGMEM = {
{ LOG_CTUN_MSG, sizeof(log_Control_Tuning),
"CTUN", "cccchhf", "NavRoll,Roll,NavPitch,Pitch,ThrOut,RdrOut,AccY" },
{ LOG_NTUN_MSG, sizeof(log_Nav_Tuning),
"NTUN", "CICCcc", "Yaw,WpDist,TargBrg,NavBrg,AltErr,Arspd" },
"NTUN", "CICCccfI", "Yaw,WpDist,TargBrg,NavBrg,AltErr,Arspd,Alt,GSpdCM" },
{ LOG_MODE_MSG, sizeof(log_Mode),
"MODE", "MB", "Mode,ModeNum" },
{ LOG_CURRENT_MSG, sizeof(log_Current),