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AP_TECS: added time to TECS messages

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This commit is contained in:
Andrew Tridgell 2013-11-04 21:36:40 +11:00
parent e1b01b205a
commit b096881f81
2 changed files with 3 additions and 1 deletions
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1
libraries/AP_TECS/AP_TECS.cpp
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@ -651,6 +651,7 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
log_tuning.thr = _throttle_dem; log_tuning.thr = _throttle_dem;
log_tuning.ptch = _pitch_dem; log_tuning.ptch = _pitch_dem;
log_tuning.dspd_dem = _TAS_rate_dem; log_tuning.dspd_dem = _TAS_rate_dem;
log_tuning.time_ms = hal.scheduler->millis();
} }
// log the contents of the log_tuning structure to dataflash // log the contents of the log_tuning structure to dataflash

3
libraries/AP_TECS/AP_TECS.h
View File

@ -71,6 +71,7 @@ public:
struct PACKED log_TECS_Tuning { struct PACKED log_TECS_Tuning {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint32_t time_ms;
float hgt; float hgt;
float dhgt; float dhgt;
float hgt_dem; float hgt_dem;
@ -264,6 +265,6 @@ private:
}; };
#define TECS_LOG_FORMAT(msg) { msg, sizeof(AP_TECS::log_TECS_Tuning), \ #define TECS_LOG_FORMAT(msg) { msg, sizeof(AP_TECS::log_TECS_Tuning), \
"TECS", "ffffffffffff", "h,dh,h_dem,dh_dem,sp_dem,sp,dsp,ith,iph,th,ph,dsp_dem" } "TECS", "Iffffffffffff", "TimeMS,h,dh,h_dem,dh_dem,sp_dem,sp,dsp,ith,iph,th,ph,dsp_dem" }
#endif //AP_TECS_H #endif //AP_TECS_H