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DataFlash: added Log_Write_AttitudeView

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This commit is contained in:
Andrew Tridgell 2017-03-31 10:37:35 +11:00
parent 5f02b7eddb
commit 6c31a6982b
2 changed files with 19 additions and 0 deletions
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1
libraries/DataFlash/DataFlash.h
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@ -134,6 +134,7 @@ public:
void Log_Write_ESC(void); void Log_Write_ESC(void);
void Log_Write_Airspeed(AP_Airspeed &airspeed); void Log_Write_Airspeed(AP_Airspeed &airspeed);
void Log_Write_Attitude(AP_AHRS &ahrs, const Vector3f &targets); void Log_Write_Attitude(AP_AHRS &ahrs, const Vector3f &targets);
void Log_Write_AttitudeView(AP_AHRS_View &ahrs, const Vector3f &targets);
void Log_Write_Current(const AP_BattMonitor &battery); void Log_Write_Current(const AP_BattMonitor &battery);
void Log_Write_Compass(const Compass &compass, uint64_t time_us=0); void Log_Write_Compass(const Compass &compass, uint64_t time_us=0);
void Log_Write_Mode(uint8_t mode, uint8_t reason = 0); void Log_Write_Mode(uint8_t mode, uint8_t reason = 0);

18
libraries/DataFlash/LogFile.cpp
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@ -1832,6 +1832,24 @@ void DataFlash_Class::Log_Write_Attitude(AP_AHRS &ahrs, const Vector3f &targets)
WriteBlock(&pkt, sizeof(pkt)); WriteBlock(&pkt, sizeof(pkt));
} }
// Write an attitude packet
void DataFlash_Class::Log_Write_AttitudeView(AP_AHRS_View &ahrs, const Vector3f &targets)
{
struct log_Attitude pkt = {
LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG),
time_us : AP_HAL::micros64(),
control_roll : (int16_t)targets.x,
roll : (int16_t)ahrs.roll_sensor,
control_pitch : (int16_t)targets.y,
pitch : (int16_t)ahrs.pitch_sensor,
control_yaw : (uint16_t)targets.z,
yaw : (uint16_t)ahrs.yaw_sensor,
error_rp : (uint16_t)(ahrs.get_error_rp() * 100),
error_yaw : (uint16_t)(ahrs.get_error_yaw() * 100)
};
WriteBlock(&pkt, sizeof(pkt));
}
// Write an Current data packet // Write an Current data packet
void DataFlash_Class::Log_Write_Current(const AP_BattMonitor &battery) void DataFlash_Class::Log_Write_Current(const AP_BattMonitor &battery)
{ {