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Copter: fixed logging for new API

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This commit is contained in:
Andrew Tridgell 2013-04-17 21:34:42 +10:00
parent df27b8b35d
commit 61c2befd4d
1 changed files with 11 additions and 39 deletions
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50
ArduCopter/Log.pde
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@ -29,13 +29,6 @@ MENU2(log_menu, "Log", log_menu_commands, print_log_menu);
static bool
print_log_menu(void)
{
uint16_t log_start;
uint16_t log_end;
uint16_t temp;
uint16_t last_log_num = DataFlash.find_last_log();
uint16_t num_logs = DataFlash.get_num_logs();
cliSerial->printf_P(PSTR("logs enabled: "));
if (0 == g.log_bitmask) {
@ -60,23 +53,8 @@ print_log_menu(void)
cliSerial->println();
if (num_logs == 0) {
cliSerial->printf_P(PSTR("\nNo logs\n\n"));
}else{
cliSerial->printf_P(PSTR("\n%u logs\n"), (unsigned)num_logs);
DataFlash.ListAvailableLogs(cliSerial);
for(int16_t i=num_logs; i>=1; i--) {
uint16_t last_log_start = log_start, last_log_end = log_end;
temp = last_log_num-i+1;
DataFlash.get_log_boundaries(temp, log_start, log_end);
cliSerial->printf_P(PSTR("Log %d, start %d, end %d\n"), (int)temp, (int)log_start, (int)log_end);
if (last_log_start == log_start && last_log_end == log_end) {
// we are printing bogus logs
break;
}
}
cliSerial->println();
}
return(true);
}
@ -105,13 +83,7 @@ dump_log(uint8_t argc, const Menu::arg *argv)
}
DataFlash.get_log_boundaries(dump_log, dump_log_start, dump_log_end);
/*cliSerial->printf_P(PSTR("Dumping Log number %d, start %d, end %d\n"),
* dump_log,
* dump_log_start,
* dump_log_end);
*/
Log_Read((uint8_t)dump_log, dump_log_start, dump_log_end);
//cliSerial->printf_P(PSTR("Done\n"));
Log_Read((uint16_t)dump_log, dump_log_start, dump_log_end);
return (0);
}
@ -1267,20 +1239,20 @@ static void Log_Read_WPNav()
// 1 2 3 4 5 6 7 8 9 10
cliSerial->printf_P(PSTR("WPNAV, %4.2f, %4.2f, %4.2f, %4.2f, %4.2f, %4.2f, %4.2f, %4.2f, %ld, %ld\n"),
(float)pkt.pos_error_x, // 1 position error in cm in lat direction
(float)pkt.pos_error_y, // 2 position error in cm in lon direction
(float)pkt.desired_velocity_x, // 3 desired velocity in cm/s in lat direction
(float)pkt.desired_velocity_y, // 4 desired velocity in cm/s in lon direction
(float)pkt.velocity_x, // 5 velocity in cm/s in lat direction
(float)pkt.velocity_y, // 6 velocity in cm/s in lon direction
(float)pkt.desired_accel_x, // 7 desired acceleration in cm/s/s in lat direction
(float)pkt.desired_accel_y, // 8 desired acceleration in cm/s/s in lon direction
pkt.pos_error_x, // 1 position error in cm in lat direction
pkt.pos_error_y, // 2 position error in cm in lon direction
pkt.desired_velocity_x, // 3 desired velocity in cm/s in lat direction
pkt.desired_velocity_y, // 4 desired velocity in cm/s in lon direction
pkt.velocity_x, // 5 velocity in cm/s in lat direction
pkt.velocity_y, // 6 velocity in cm/s in lon direction
pkt.desired_accel_x, // 7 desired acceleration in cm/s/s in lat direction
pkt.desired_accel_y, // 8 desired acceleration in cm/s/s in lon direction
(long)pkt.desired_roll, // 9 accel based lat from home
(long)pkt.desired_pitch); // 12 accel based lon velocity
}
// Read the DataFlash log memory
static void Log_Read(uint8_t log_num, int16_t start_page, int16_t end_page)
static void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page)
{
#ifdef AIRFRAME_NAME
cliSerial->printf_P(PSTR((AIRFRAME_NAME)));