Plane: added baro and airspeed logging

including raw temperature and pressure values

ArduPlane/Log.pde

@@ -519,6 +519,36 @@ static void Log_Write_RC(void)
     DataFlash.Log_Write_RCOUT();
 }
 
+static void Log_Write_Baro(void)
+{
+    DataFlash.Log_Write_Baro(barometer);
+}
+
+struct PACKED log_AIRSPEED {
+    LOG_PACKET_HEADER;
+    uint32_t timestamp;
+    float   airspeed;
+    float   diffpressure;
+    int16_t temperature;
+};
+
+// Write a AIRSPEED packet
+static void Log_Write_Airspeed(void)
+{
+    float temperature;
+    if (!airspeed.get_temperature(temperature)) {
+        temperature = 0;
+    }
+    struct log_AIRSPEED pkt = {
+        LOG_PACKET_HEADER_INIT(LOG_AIRSPEED_MSG),
+        timestamp     : hal.scheduler->millis(),
+        airspeed      : airspeed.get_raw_airspeed(),
+        diffpressure  : airspeed.get_differential_pressure(),
+        temperature   : (int16_t)(temperature * 100.0f)
+    };
+    DataFlash.WriteBlock(&pkt, sizeof(pkt));
+}
+
 static const struct LogStructure log_structure[] PROGMEM = {
     LOG_COMMON_STRUCTURES,
     { LOG_ATTITUDE_MSG, sizeof(log_Attitude),       
@@ -547,6 +577,8 @@ static const struct LogStructure log_structure[] PROGMEM = {
       "MAG2", "Ihhhhhh",   "TimeMS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ" },
     { LOG_ARM_DISARM_MSG, sizeof(log_Arm_Disarm),
       "ARM", "IHB", "TimeMS,ArmState,ArmChecks" },
+    { LOG_AIRSPEED_MSG, sizeof(log_AIRSPEED),
+      "ARSP",  "Iffc",     "TimeMS,Airspeed,DiffPress,Temp" },
     TECS_LOG_FORMAT(LOG_TECS_MSG),
 };
 
@@ -597,6 +629,8 @@ static void Log_Write_Compass() {}
 static void Log_Write_GPS() {}
 static void Log_Write_IMU() {}
 static void Log_Write_RC() {}
+static void Log_Write_Airspeed(void) {}
+static void Log_Write_Baro(void) {}
 
 static int8_t process_logs(uint8_t argc, const Menu::arg *argv) {
     return 0;

ArduPlane/defines.h

@@ -143,6 +143,7 @@ enum log_messages {
     LOG_SONAR_MSG,
     LOG_COMPASS2_MSG,
     LOG_ARM_DISARM_MSG,
+    LOG_AIRSPEED_MSG,
     MAX_NUM_LOGS // always at the end
 };
 

ArduPlane/sensors.pde

@@ -20,6 +20,9 @@ static void init_barometer(void)
 static int32_t read_barometer(void)
 {
     barometer.read();
+    if (should_log(MASK_LOG_IMU)) {
+        Log_Write_Baro();
+    }
     return altitude_filter.apply(barometer.get_altitude() * 100.0);
 }
 
@@ -51,6 +54,9 @@ static void read_airspeed(void)
 {
     if (airspeed.enabled()) {
         airspeed.read();
+        if (should_log(MASK_LOG_IMU)) {
+            Log_Write_Airspeed();
+        }
         calc_airspeed_errors();
     }
 }