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Rover: remove throttle from NTUN logging

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Throttle is more extensively logged in the THR message
This commit is contained in:
Randy Mackay 2017-12-08 09:26:32 +09:00
parent 9710b16cac
commit 5f62cde550
1 changed files with 1 additions and 3 deletions
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4
APMrover2/Log.cpp
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@ -129,7 +129,6 @@ struct PACKED log_Nav_Tuning {
float wp_distance; float wp_distance;
uint16_t target_bearing_cd; uint16_t target_bearing_cd;
uint16_t nav_bearing_cd; uint16_t nav_bearing_cd;
int8_t throttle;
float xtrack_error; float xtrack_error;
}; };
@ -143,7 +142,6 @@ void Rover::Log_Write_Nav_Tuning()
wp_distance : control_mode->get_distance_to_destination(), wp_distance : control_mode->get_distance_to_destination(),
target_bearing_cd : static_cast<uint16_t>(abs(nav_controller->target_bearing_cd())), target_bearing_cd : static_cast<uint16_t>(abs(nav_controller->target_bearing_cd())),
nav_bearing_cd : static_cast<uint16_t>(abs(nav_controller->nav_bearing_cd())), nav_bearing_cd : static_cast<uint16_t>(abs(nav_controller->nav_bearing_cd())),
throttle : int8_t(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle)),
xtrack_error : nav_controller->crosstrack_error() xtrack_error : nav_controller->crosstrack_error()
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); DataFlash.WriteBlock(&pkt, sizeof(pkt));
@ -353,7 +351,7 @@ const LogStructure Rover::log_structure[] = {
{ LOG_THR_MSG, sizeof(log_Throttle), { LOG_THR_MSG, sizeof(log_Throttle),
"THR", "Qhffff", "TimeUS,ThrIn,ThrOut,DesSpeed,Speed,AccY", "s--nno", "F--000" }, "THR", "Qhffff", "TimeUS,ThrIn,ThrOut,DesSpeed,Speed,AccY", "s--nno", "F--000" },
{ LOG_NTUN_MSG, sizeof(log_Nav_Tuning), { LOG_NTUN_MSG, sizeof(log_Nav_Tuning),
"NTUN", "QHfHHbf", "TimeUS,Yaw,WpDist,TargBrg,NavBrg,Thr,XT", "sdmdd-m", "FB0BB-0" }, "NTUN", "QHfHHf", "TimeUS,Yaw,WpDist,TargBrg,NavBrg,XT", "sdmddm", "FB0BB0" },
{ LOG_RANGEFINDER_MSG, sizeof(log_Rangefinder), { LOG_RANGEFINDER_MSG, sizeof(log_Rangefinder),
"RGFD", "QfHHHbHCb", "TimeUS,LatAcc,R1Dist,R2Dist,DCnt,TAng,TTim,Spd,Thr", "somm-hsm-", "F0BB-0CB-" }, "RGFD", "QfHHHbHCb", "TimeUS,LatAcc,R1Dist,R2Dist,DCnt,TAng,TTim,Spd,Thr", "somm-hsm-", "F0BB-0CB-" },
{ LOG_ARM_DISARM_MSG, sizeof(log_Arm_Disarm), { LOG_ARM_DISARM_MSG, sizeof(log_Arm_Disarm),