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Plane: added time to most plane log messages

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This commit is contained in:
Andrew Tridgell 2013-11-04 21:37:30 +11:00 committed by Randy Mackay
parent e2991c0f35
commit 6fe3004fcc
1 changed files with 19 additions and 13 deletions
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32
ArduPlane/Log.pde
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@ -162,6 +162,7 @@ process_logs(uint8_t argc, const Menu::arg *argv)
struct PACKED log_Attitude { struct PACKED log_Attitude {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint32_t time_ms;
int16_t roll; int16_t roll;
int16_t pitch; int16_t pitch;
uint16_t yaw; uint16_t yaw;
@ -172,6 +173,7 @@ static void Log_Write_Attitude(void)
{ {
struct log_Attitude pkt = { struct log_Attitude pkt = {
LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG), LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG),
time_ms : hal.scheduler->millis(),
roll : (int16_t)ahrs.roll_sensor, roll : (int16_t)ahrs.roll_sensor,
pitch : (int16_t)ahrs.pitch_sensor, pitch : (int16_t)ahrs.pitch_sensor,
yaw : (uint16_t)ahrs.yaw_sensor yaw : (uint16_t)ahrs.yaw_sensor
@ -297,6 +299,7 @@ static void Log_Write_Startup(uint8_t type)
struct PACKED log_Control_Tuning { struct PACKED log_Control_Tuning {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint32_t time_ms;
int16_t nav_roll_cd; int16_t nav_roll_cd;
int16_t roll; int16_t roll;
int16_t nav_pitch_cd; int16_t nav_pitch_cd;
@ -312,6 +315,7 @@ static void Log_Write_Control_Tuning()
Vector3f accel = ins.get_accel(); Vector3f accel = ins.get_accel();
struct log_Control_Tuning pkt = { struct log_Control_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_CTUN_MSG), LOG_PACKET_HEADER_INIT(LOG_CTUN_MSG),
time_ms : hal.scheduler->millis(),
nav_roll_cd : (int16_t)nav_roll_cd, nav_roll_cd : (int16_t)nav_roll_cd,
roll : (int16_t)ahrs.roll_sensor, roll : (int16_t)ahrs.roll_sensor,
nav_pitch_cd : (int16_t)nav_pitch_cd, nav_pitch_cd : (int16_t)nav_pitch_cd,
@ -331,6 +335,7 @@ static void Log_Write_TECS_Tuning(void)
struct PACKED log_Nav_Tuning { struct PACKED log_Nav_Tuning {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint32_t time_ms;
uint16_t yaw; uint16_t yaw;
uint32_t wp_distance; uint32_t wp_distance;
uint16_t target_bearing_cd; uint16_t target_bearing_cd;
@ -346,6 +351,7 @@ static void Log_Write_Nav_Tuning()
{ {
struct log_Nav_Tuning pkt = { struct log_Nav_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_NTUN_MSG), LOG_PACKET_HEADER_INIT(LOG_NTUN_MSG),
time_ms : hal.scheduler->millis(),
yaw : (uint16_t)ahrs.yaw_sensor, yaw : (uint16_t)ahrs.yaw_sensor,
wp_distance : wp_distance, wp_distance : wp_distance,
target_bearing_cd : (uint16_t)nav_controller->target_bearing_cd(), target_bearing_cd : (uint16_t)nav_controller->target_bearing_cd(),
@ -360,6 +366,7 @@ static void Log_Write_Nav_Tuning()
struct PACKED log_Mode { struct PACKED log_Mode {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint32_t time_ms;
uint8_t mode; uint8_t mode;
uint8_t mode_num; uint8_t mode_num;
}; };
@ -369,6 +376,7 @@ static void Log_Write_Mode(uint8_t mode)
{ {
struct log_Mode pkt = { struct log_Mode pkt = {
LOG_PACKET_HEADER_INIT(LOG_MODE_MSG), LOG_PACKET_HEADER_INIT(LOG_MODE_MSG),
time_ms : hal.scheduler->millis(),
mode : mode, mode : mode,
mode_num : mode mode_num : mode
}; };
@ -377,6 +385,7 @@ static void Log_Write_Mode(uint8_t mode)
struct PACKED log_Current { struct PACKED log_Current {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint32_t time_ms;
int16_t throttle_in; int16_t throttle_in;
int16_t battery_voltage; int16_t battery_voltage;
int16_t current_amps; int16_t current_amps;
@ -388,6 +397,7 @@ static void Log_Write_Current()
{ {
struct log_Current pkt = { struct log_Current pkt = {
LOG_PACKET_HEADER_INIT(LOG_CURRENT_MSG), LOG_PACKET_HEADER_INIT(LOG_CURRENT_MSG),
time_ms : hal.scheduler->millis(),
throttle_in : channel_throttle->control_in, throttle_in : channel_throttle->control_in,
battery_voltage : (int16_t)(battery.voltage() * 100.0), battery_voltage : (int16_t)(battery.voltage() * 100.0),
current_amps : (int16_t)(battery.current_amps() * 100.0), current_amps : (int16_t)(battery.current_amps() * 100.0),
@ -400,15 +410,13 @@ static void Log_Write_Current()
struct PACKED log_Compass { struct PACKED log_Compass {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint32_t time_ms;
int16_t mag_x; int16_t mag_x;
int16_t mag_y; int16_t mag_y;
int16_t mag_z; int16_t mag_z;
int16_t offset_x; int16_t offset_x;
int16_t offset_y; int16_t offset_y;
int16_t offset_z; int16_t offset_z;
int16_t motor_offset_x;
int16_t motor_offset_y;
int16_t motor_offset_z;
}; };
// Write a Compass packet. Total length : 15 bytes // Write a Compass packet. Total length : 15 bytes
@ -418,15 +426,13 @@ static void Log_Write_Compass()
Vector3f mag_motor_offsets = compass.get_motor_offsets(); Vector3f mag_motor_offsets = compass.get_motor_offsets();
struct log_Compass pkt = { struct log_Compass pkt = {
LOG_PACKET_HEADER_INIT(LOG_COMPASS_MSG), LOG_PACKET_HEADER_INIT(LOG_COMPASS_MSG),
time_ms : hal.scheduler->millis(),
mag_x : compass.mag_x, mag_x : compass.mag_x,
mag_y : compass.mag_y, mag_y : compass.mag_y,
mag_z : compass.mag_z, mag_z : compass.mag_z,
offset_x : (int16_t)mag_offsets.x, offset_x : (int16_t)mag_offsets.x,
offset_y : (int16_t)mag_offsets.y, offset_y : (int16_t)mag_offsets.y,
offset_z : (int16_t)mag_offsets.z, offset_z : (int16_t)mag_offsets.z
motor_offset_x : (int16_t)mag_motor_offsets.x,
motor_offset_y : (int16_t)mag_motor_offsets.y,
motor_offset_z : (int16_t)mag_motor_offsets.z
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); DataFlash.WriteBlock(&pkt, sizeof(pkt));
} }
@ -444,7 +450,7 @@ static void Log_Write_IMU()
static const struct LogStructure log_structure[] PROGMEM = { static const struct LogStructure log_structure[] PROGMEM = {
LOG_COMMON_STRUCTURES, LOG_COMMON_STRUCTURES,
{ LOG_ATTITUDE_MSG, sizeof(log_Attitude), { LOG_ATTITUDE_MSG, sizeof(log_Attitude),
"ATT", "ccC", "Roll,Pitch,Yaw" }, "ATT", "IccC", "TimeMS,Roll,Pitch,Yaw" },
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance), { LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "IHIBBBhhhB", "LTime,MLC,gDt,RNCnt,RNBl,GPScnt,GDx,GDy,GDz,I2CErr" }, "PM", "IHIBBBhhhB", "LTime,MLC,gDt,RNCnt,RNBl,GPScnt,GDx,GDy,GDz,I2CErr" },
{ LOG_CMD_MSG, sizeof(log_Cmd), { LOG_CMD_MSG, sizeof(log_Cmd),
@ -454,15 +460,15 @@ static const struct LogStructure log_structure[] PROGMEM = {
{ LOG_STARTUP_MSG, sizeof(log_Startup), { LOG_STARTUP_MSG, sizeof(log_Startup),
"STRT", "BB", "SType,CTot" }, "STRT", "BB", "SType,CTot" },
{ LOG_CTUN_MSG, sizeof(log_Control_Tuning), { LOG_CTUN_MSG, sizeof(log_Control_Tuning),
"CTUN", "cccchhf", "NavRoll,Roll,NavPitch,Pitch,ThrOut,RdrOut,AccY" }, "CTUN", "Icccchhf", "TimeMS,NavRoll,Roll,NavPitch,Pitch,ThrOut,RdrOut,AccY" },
{ LOG_NTUN_MSG, sizeof(log_Nav_Tuning), { LOG_NTUN_MSG, sizeof(log_Nav_Tuning),
"NTUN", "CICCccfI", "Yaw,WpDist,TargBrg,NavBrg,AltErr,Arspd,Alt,GSpdCM" }, "NTUN", "ICICCccfI", "TimeMS,Yaw,WpDist,TargBrg,NavBrg,AltErr,Arspd,Alt,GSpdCM" },
{ LOG_MODE_MSG, sizeof(log_Mode), { LOG_MODE_MSG, sizeof(log_Mode),
"MODE", "MB", "Mode,ModeNum" }, "MODE", "IMB", "TimeMS,Mode,ModeNum" },
{ LOG_CURRENT_MSG, sizeof(log_Current), { LOG_CURRENT_MSG, sizeof(log_Current),
"CURR", "hhhHf", "Thr,Volt,Curr,Vcc,CurrTot" }, "CURR", "IhhhHf", "TimeMS,Thr,Volt,Curr,Vcc,CurrTot" },
{ LOG_COMPASS_MSG, sizeof(log_Compass), { LOG_COMPASS_MSG, sizeof(log_Compass),
"MAG", "hhhhhhhhh", "MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ" }, "MAG", "Ihhhhhh", "TimeMS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ" },
TECS_LOG_FORMAT(LOG_TECS_MSG), TECS_LOG_FORMAT(LOG_TECS_MSG),
}; };