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AP_Logger: Update logs based on new BendyRuler type

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Rishabh 2020-07-01 11:41:34 +05:30 committed by Randy Mackay
parent b62455fd3f
commit ad3a7e4d49
3 changed files with 23 additions and 11 deletions
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2
libraries/AP_Logger/AP_Logger.h
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@ -285,7 +285,7 @@ public:
void Write_Beacon(AP_Beacon &beacon); void Write_Beacon(AP_Beacon &beacon);
void Write_Proximity(AP_Proximity &proximity); void Write_Proximity(AP_Proximity &proximity);
void Write_SRTL(bool active, uint16_t num_points, uint16_t max_points, uint8_t action, const Vector3f& point); void Write_SRTL(bool active, uint16_t num_points, uint16_t max_points, uint8_t action, const Vector3f& point);
void Write_OABendyRuler(bool active, float target_yaw, bool ignore_chg, float margin, const Location &final_dest, const Location &oa_dest); void Write_OABendyRuler(uint8_t type, bool active, float target_yaw, float target_pitch, bool ignore_chg, float margin, const Location &final_dest, const Location &oa_dest);
void Write_OADijkstra(uint8_t state, uint8_t error_id, uint8_t curr_point, uint8_t tot_points, const Location &final_dest, const Location &oa_dest); void Write_OADijkstra(uint8_t state, uint8_t error_id, uint8_t curr_point, uint8_t tot_points, const Location &final_dest, const Location &oa_dest);
void Write_SimpleAvoidance(uint8_t state, const Vector2f& desired_vel, const Vector2f& modified_vel, bool back_up); void Write_SimpleAvoidance(uint8_t state, const Vector2f& desired_vel, const Vector2f& modified_vel, bool back_up);
void Write_Winch(bool healthy, bool thread_end, bool moving, bool clutch, uint8_t mode, float desired_length, float length, float desired_rate, uint16_t tension, float voltage, int8_t temp); void Write_Winch(bool healthy, bool thread_end, bool moving, bool clutch, uint8_t mode, float desired_length, float length, float desired_rate, uint16_t tension, float voltage, int8_t temp);

8
libraries/AP_Logger/LogFile.cpp
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@ -1044,20 +1044,24 @@ void AP_Logger::Write_SRTL(bool active, uint16_t num_points, uint16_t max_points
WriteBlock(&pkt_srtl, sizeof(pkt_srtl)); WriteBlock(&pkt_srtl, sizeof(pkt_srtl));
} }
void AP_Logger::Write_OABendyRuler(bool active, float target_yaw, bool resist_chg, float margin, const Location &final_dest, const Location &oa_dest) void AP_Logger::Write_OABendyRuler(uint8_t type, bool active, float target_yaw, float target_pitch, bool resist_chg, float margin, const Location &final_dest, const Location &oa_dest)
{ {
const struct log_OABendyRuler pkt{ const struct log_OABendyRuler pkt{
LOG_PACKET_HEADER_INIT(LOG_OA_BENDYRULER_MSG), LOG_PACKET_HEADER_INIT(LOG_OA_BENDYRULER_MSG),
time_us : AP_HAL::micros64(), time_us : AP_HAL::micros64(),
type : type,
active : active, active : active,
target_yaw : (uint16_t)wrap_360(target_yaw), target_yaw : (uint16_t)wrap_360(target_yaw),
yaw : (uint16_t)wrap_360(AP::ahrs().yaw_sensor * 0.01f), yaw : (uint16_t)wrap_360(AP::ahrs().yaw_sensor * 0.01f),
target_pitch: (uint16_t)target_pitch,
resist_chg : resist_chg, resist_chg : resist_chg,
margin : margin, margin : margin,
final_lat : final_dest.lat, final_lat : final_dest.lat,
final_lng : final_dest.lng, final_lng : final_dest.lng,
final_alt : final_dest.alt,
oa_lat : oa_dest.lat, oa_lat : oa_dest.lat,
oa_lng : oa_dest.lng oa_lng : oa_dest.lng,
oa_alt : oa_dest.alt
}; };
WriteBlock(&pkt, sizeof(pkt)); WriteBlock(&pkt, sizeof(pkt));
} }

24
libraries/AP_Logger/LogStructure.h
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@ -1170,15 +1170,19 @@ struct PACKED log_SRTL {
struct PACKED log_OABendyRuler { struct PACKED log_OABendyRuler {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint64_t time_us; uint64_t time_us;
uint8_t type;
uint8_t active; uint8_t active;
uint16_t target_yaw; uint16_t target_yaw;
uint16_t yaw; uint16_t yaw;
uint16_t target_pitch;
bool resist_chg; bool resist_chg;
float margin; float margin;
int32_t final_lat; int32_t final_lat;
int32_t final_lng; int32_t final_lng;
int32_t final_alt;
int32_t oa_lat; int32_t oa_lat;
int32_t oa_lng; int32_t oa_lng;
int32_t oa_alt;
}; };
struct PACKED log_OADijkstra { struct PACKED log_OADijkstra {
@ -1910,15 +1914,19 @@ struct PACKED log_Winch {
// @LoggerMessage: OABR // @LoggerMessage: OABR
// @Description: Object avoidance (Bendy Ruler) diagnostics // @Description: Object avoidance (Bendy Ruler) diagnostics
// @Field: TimeUS: Time since system startup // @Field: TimeUS: Time since system startup
// @Field: Active: True if Bendy Ruler avoidance is being used // @Field: Type: Type of BendyRuler currently active
// @Field: DesYaw: Best yaw chosen to avoid obstacle // @Field: Act: True if Bendy Ruler avoidance is being used
// @Field: DYaw: Best yaw chosen to avoid obstacle
// @Field: Yaw: Current vehicle yaw // @Field: Yaw: Current vehicle yaw
// @Field: ResChg: True if BendyRuler resisted changing bearing and continued in last calculated bearing // @Field: DP: Desired pitch chosen to avoid obstacle
// @Field: RChg: True if BendyRuler resisted changing bearing and continued in last calculated bearing
// @Field: Mar: Margin from path to obstacle on best yaw chosen // @Field: Mar: Margin from path to obstacle on best yaw chosen
// @Field: DLat: Destination latitude // @Field: DLt: Destination latitude
// @Field: DLng: Destination longitude // @Field: DLg: Destination longitude
// @Field: OALat: Intermediate location chosen for avoidance // @Field: DAlt: Desired alt
// @Field: OALng: Intermediate location chosen for avoidance // @Field: OLt: Intermediate location chosen for avoidance
// @Field: OLg: Intermediate location chosen for avoidance
// @Field: OAlt: Intermediate alt chosen for avoidance
// @LoggerMessage: OADJ // @LoggerMessage: OADJ
// @Description: Object avoidance (Dijkstra) diagnostics // @Description: Object avoidance (Dijkstra) diagnostics
@ -2485,7 +2493,7 @@ struct PACKED log_Winch {
{ LOG_SRTL_MSG, sizeof(log_SRTL), \ { LOG_SRTL_MSG, sizeof(log_SRTL), \
"SRTL", "QBHHBfff", "TimeUS,Active,NumPts,MaxPts,Action,N,E,D", "s----mmm", "F----000" }, \ "SRTL", "QBHHBfff", "TimeUS,Active,NumPts,MaxPts,Action,N,E,D", "s----mmm", "F----000" }, \
{ LOG_OA_BENDYRULER_MSG, sizeof(log_OABendyRuler), \ { LOG_OA_BENDYRULER_MSG, sizeof(log_OABendyRuler), \
"OABR","QBHHBfLLLL","TimeUS,Active,DesYaw,Yaw,ResChg,Mar,DLat,DLng,OALat,OALng", "sbdd-mDUDU", "F-----GGGG" }, \ "OABR","QBBHHHBfLLfLLf","TimeUS,Type,Act,DYaw,Yaw,DP,RChg,Mar,DLt,DLg,DAlt,OLt,OLg,OAlt", "s-bddd-mDUmDUm", "F-------GGBGGB" }, \
{ LOG_OA_DIJKSTRA_MSG, sizeof(log_OADijkstra), \ { LOG_OA_DIJKSTRA_MSG, sizeof(log_OADijkstra), \
"OADJ","QBBBBLLLL","TimeUS,State,Err,CurrPoint,TotPoints,DLat,DLng,OALat,OALng", "sbbbbDUDU", "F----GGGG" }, \ "OADJ","QBBBBLLLL","TimeUS,State,Err,CurrPoint,TotPoints,DLat,DLng,OALat,OALng", "sbbbbDUDU", "F----GGGG" }, \
{ LOG_SIMPLE_AVOID_MSG, sizeof(log_SimpleAvoid), \ { LOG_SIMPLE_AVOID_MSG, sizeof(log_SimpleAvoid), \