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DataFlash: moved airspeed msg to DataFlash

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so it can be used by Replay
This commit is contained in:
Andrew Tridgell 2015-01-20 09:10:33 +11:00
parent 62e7778ba8
commit 5d83124675
2 changed files with 35 additions and 1 deletions
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17
libraries/DataFlash/DataFlash.h
View File

@ -12,6 +12,7 @@
#include <AP_InertialSensor.h> #include <AP_InertialSensor.h>
#include <AP_Baro.h> #include <AP_Baro.h>
#include <AP_AHRS.h> #include <AP_AHRS.h>
#include "../AP_Airspeed/AP_Airspeed.h"
#include <stdint.h> #include <stdint.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
@ -77,6 +78,7 @@ public:
void Log_Write_Message_P(const prog_char_t *message); void Log_Write_Message_P(const prog_char_t *message);
void Log_Write_Camera(const AP_AHRS &ahrs, const AP_GPS &gps, const Location &current_loc); void Log_Write_Camera(const AP_AHRS &ahrs, const AP_GPS &gps, const Location &current_loc);
void Log_Write_ESC(void); void Log_Write_ESC(void);
void Log_Write_Airspeed(AP_Airspeed &airspeed);
bool logging_started(void) const { return log_write_started; } bool logging_started(void) const { return log_write_started; }
@ -460,6 +462,16 @@ struct PACKED log_Esc {
int16_t temperature; int16_t temperature;
}; };
struct PACKED log_AIRSPEED {
LOG_PACKET_HEADER;
uint32_t timestamp;
float airspeed;
float diffpressure;
int16_t temperature;
float rawpressure;
float offset;
};
// messages for all boards // messages for all boards
#define LOG_BASE_STRUCTURES \ #define LOG_BASE_STRUCTURES \
{ LOG_FORMAT_MSG, sizeof(log_Format), \ { LOG_FORMAT_MSG, sizeof(log_Format), \
@ -487,7 +499,9 @@ struct PACKED log_Esc {
{ LOG_RADIO_MSG, sizeof(log_Radio), \ { LOG_RADIO_MSG, sizeof(log_Radio), \
"RAD", "IBBBBBHH", "TimeMS,RSSI,RemRSSI,TxBuf,Noise,RemNoise,RxErrors,Fixed" }, \ "RAD", "IBBBBBHH", "TimeMS,RSSI,RemRSSI,TxBuf,Noise,RemNoise,RxErrors,Fixed" }, \
{ LOG_CAMERA_MSG, sizeof(log_Camera), \ { LOG_CAMERA_MSG, sizeof(log_Camera), \
"CAM", "IHLLeeccC","GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,Roll,Pitch,Yaw" } "CAM", "IHLLeeccC","GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,Roll,Pitch,Yaw" }, \
{ LOG_ARSP_MSG, sizeof(log_AIRSPEED), \
"ARSP", "Iffcff", "TimeMS,Airspeed,DiffPress,Temp,RawPress,Offset" }
// messages for more advanced boards // messages for more advanced boards
#define LOG_EXTRA_STRUCTURES \ #define LOG_EXTRA_STRUCTURES \
@ -581,6 +595,7 @@ struct PACKED log_Esc {
#define LOG_ESC8_MSG 161 #define LOG_ESC8_MSG 161
#define LOG_EKF5_MSG 162 #define LOG_EKF5_MSG 162
#define LOG_BAR2_MSG 163 #define LOG_BAR2_MSG 163
#define LOG_ARSP_MSG 164
// message types 200 to 210 reversed for GPS driver use // message types 200 to 210 reversed for GPS driver use
// message types 211 to 220 reversed for autotune use // message types 211 to 220 reversed for autotune use

19
libraries/DataFlash/LogFile.cpp
View File

@ -1153,3 +1153,22 @@ void DataFlash_Class::Log_Write_ESC(void)
} }
#endif // CONFIG_HAL_BOARD #endif // CONFIG_HAL_BOARD
} }
// Write a AIRSPEED packet
void DataFlash_Class::Log_Write_Airspeed(AP_Airspeed &airspeed)
{
float temperature;
if (!airspeed.get_temperature(temperature)) {
temperature = 0;
}
struct log_AIRSPEED pkt = {
LOG_PACKET_HEADER_INIT(LOG_ARSP_MSG),
timestamp : hal.scheduler->millis(),
airspeed : airspeed.get_raw_airspeed(),
diffpressure : airspeed.get_differential_pressure(),
temperature : (int16_t)(temperature * 100.0f),
rawpressure : airspeed.get_raw_pressure(),
offset : airspeed.get_offset()
};
WriteBlock(&pkt, sizeof(pkt));
}