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Copter: add upward distance to proximity logging

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This commit is contained in:
Randy Mackay 2017-02-10 16:13:20 +09:00
parent 34726208b2
commit c100f53ee6
1 changed files with 8 additions and 1 deletions
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9
ArduCopter/Log.cpp
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@ -761,6 +761,7 @@ struct PACKED log_Proximity {
float dist225;
float dist270;
float dist315;
float distup;
float closest_angle;
float closest_dist;
};
@ -784,6 +785,11 @@ void Copter::Log_Write_Proximity()
g2.proximity.get_horizontal_distance(270, sector_distance[6]);
g2.proximity.get_horizontal_distance(315, sector_distance[7]);
float dist_up;
if (!g2.proximity.get_upward_distance(dist_up)) {
dist_up = 0.0f;
}
float close_ang = 0.0f, close_dist = 0.0f;
g2.proximity.get_closest_object(close_ang, close_dist);
@ -799,6 +805,7 @@ void Copter::Log_Write_Proximity()
dist225 : sector_distance[5],
dist270 : sector_distance[6],
dist315 : sector_distance[7],
distup : dist_up,
closest_angle : close_ang,
closest_dist : close_dist
};
@ -893,7 +900,7 @@ const struct LogStructure Copter::log_structure[] = {
{ LOG_THROW_MSG, sizeof(log_Throw),
"THRO", "QBffffbbbb", "TimeUS,Stage,Vel,VelZ,Acc,AccEfZ,Throw,AttOk,HgtOk,PosOk" },
{ LOG_PROXIMITY_MSG, sizeof(log_Proximity),
"PRX", "QBffffffffff","TimeUS,Health,D0,D45,D90,D135,D180,D225,D270,D315,CAng,CDist" },
"PRX", "QBfffffffffff","TimeUS,Health,D0,D45,D90,D135,D180,D225,D270,D315,DUp,CAn,CDis" },
{ LOG_BEACON_MSG, sizeof(log_Beacon),
"BCN", "QBBfffffff", "TimeUS,Health,Cnt,D0,D1,D2,D3,PosX,PosY,PosZ" },
};