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DataFlash: log Gyro and Accel Health for IMUs.

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Log the health of the various IMUs under GyHlt and AcHlt.
(Names are shortened to get inside the string array limit).
This commit is contained in:
Andy Piper 2015-05-12 20:49:17 +01:00 committed by Randy Mackay
parent ba930f8cf1
commit c600c1a746
2 changed files with 13 additions and 6 deletions
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7
libraries/DataFlash/DataFlash.h
View File

@ -205,6 +205,7 @@ struct PACKED log_IMU {
float accel_x, accel_y, accel_z;
uint32_t gyro_error, accel_error;
float temperature;
uint8_t gyro_health, accel_health;
};
struct PACKED log_RCIN {
@ -571,7 +572,7 @@ Format characters in the format string for binary log messages
{ LOG_GPS_MSG, sizeof(log_GPS), \
"GPS", "BIHBcLLeeEefI", "Status,TimeMS,Week,NSats,HDop,Lat,Lng,RelAlt,Alt,Spd,GCrs,VZ,T" }, \
{ LOG_IMU_MSG, sizeof(log_IMU), \
"IMU", "IffffffIIf", "TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp" }, \
"IMU", "IffffffIIfBB", "TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp,GyHlt,AcHlt" }, \
{ LOG_MESSAGE_MSG, sizeof(log_Message), \
"MSG", "Z", "Message"}, \
{ LOG_RCIN_MSG, sizeof(log_RCIN), \
@ -606,9 +607,9 @@ Format characters in the format string for binary log messages
{ LOG_GPS2_MSG, sizeof(log_GPS2), \
"GPS2", "BIHBcLLeEefIBI", "Status,TimeMS,Week,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,T,DSc,DAg" }, \
{ LOG_IMU2_MSG, sizeof(log_IMU), \
"IMU2", "IffffffIIf", "TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp" }, \
"IMU2", "IffffffIIfBB", "TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp,GyHlt,AcHlt" }, \
{ LOG_IMU3_MSG, sizeof(log_IMU), \
"IMU3", "IffffffIIf", "TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp" }, \
"IMU3", "IffffffIIfBB", "TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp,GyHlt,AcHlt" }, \
{ LOG_AHR2_MSG, sizeof(log_AHRS), \
"AHR2","IccCfLL","TimeMS,Roll,Pitch,Yaw,Alt,Lat,Lng" }, \
{ LOG_POS_MSG, sizeof(log_POS), \

12
libraries/DataFlash/LogFile.cpp
View File

@ -801,7 +801,9 @@ void DataFlash_Class::Log_Write_IMU(const AP_InertialSensor &ins)
accel_z : accel.z,
gyro_error : ins.get_gyro_error_count(0),
accel_error : ins.get_accel_error_count(0),
temperature : ins.get_temperature(0)
temperature : ins.get_temperature(0),
gyro_health : (uint8_t)ins.get_gyro_health(0),
accel_health : (uint8_t)ins.get_accel_health(0)
};
WriteBlock(&pkt, sizeof(pkt));
if (ins.get_gyro_count() < 2 && ins.get_accel_count() < 2) {
@ -821,7 +823,9 @@ void DataFlash_Class::Log_Write_IMU(const AP_InertialSensor &ins)
accel_z : accel2.z,
gyro_error : ins.get_gyro_error_count(1),
accel_error : ins.get_accel_error_count(1),
temperature : ins.get_temperature(1)
temperature : ins.get_temperature(1),
gyro_health : (uint8_t)ins.get_gyro_health(1),
accel_health : (uint8_t)ins.get_accel_health(1)
};
WriteBlock(&pkt2, sizeof(pkt2));
if (ins.get_gyro_count() < 3 && ins.get_accel_count() < 3) {
@ -840,7 +844,9 @@ void DataFlash_Class::Log_Write_IMU(const AP_InertialSensor &ins)
accel_z : accel3.z,
gyro_error : ins.get_gyro_error_count(2),
accel_error : ins.get_accel_error_count(2),
temperature : ins.get_temperature(2)
temperature : ins.get_temperature(2),
gyro_health : (uint8_t)ins.get_gyro_health(2),
accel_health : (uint8_t)ins.get_accel_health(2)
};
WriteBlock(&pkt3, sizeof(pkt3));
#endif