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Sub: replace NTUN with PSC logging

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This commit is contained in:
Randy Mackay 2018-03-01 14:44:04 +09:00
parent 4a74b1b5e5
commit c857f8332b
4 changed files with 1 additions and 47 deletions
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2
ArduSub/ArduSub.cpp
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@ -204,7 +204,7 @@ void Sub::ten_hz_logging_loop()
DataFlash.Log_Write_RCOUT(); DataFlash.Log_Write_RCOUT();
} }
if (should_log(MASK_LOG_NTUN) && mode_requires_GPS(control_mode)) { if (should_log(MASK_LOG_NTUN) && mode_requires_GPS(control_mode)) {
Log_Write_Nav_Tuning(); pos_control.write_log();
} }
if (should_log(MASK_LOG_IMU) || should_log(MASK_LOG_IMU_FAST) || should_log(MASK_LOG_IMU_RAW)) { if (should_log(MASK_LOG_IMU) || should_log(MASK_LOG_IMU_FAST) || should_log(MASK_LOG_IMU_RAW)) {
DataFlash.Log_Write_Vibration(ins); DataFlash.Log_Write_Vibration(ins);

44
ArduSub/Log.cpp
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@ -45,47 +45,6 @@ void Sub::Log_Write_Optflow()
#endif // OPTFLOW == ENABLED #endif // OPTFLOW == ENABLED
} }
struct PACKED log_Nav_Tuning {
LOG_PACKET_HEADER;
uint64_t time_us;
float desired_pos_x;
float desired_pos_y;
float pos_x;
float pos_y;
float desired_vel_x;
float desired_vel_y;
float vel_x;
float vel_y;
float desired_accel_x;
float desired_accel_y;
};
// Write an Nav Tuning packet
void Sub::Log_Write_Nav_Tuning()
{
const Vector3f &pos_target = pos_control.get_pos_target();
const Vector3f &vel_target = pos_control.get_vel_target();
const Vector3f &accel_target = pos_control.get_accel_target();
const Vector3f &position = inertial_nav.get_position();
const Vector3f &velocity = inertial_nav.get_velocity();
struct log_Nav_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_NAV_TUNING_MSG),
time_us : AP_HAL::micros64(),
desired_pos_x : pos_target.x,
desired_pos_y : pos_target.y,
pos_x : position.x,
pos_y : position.y,
desired_vel_x : vel_target.x,
desired_vel_y : vel_target.y,
vel_x : velocity.x,
vel_y : velocity.y,
desired_accel_x : accel_target.x,
desired_accel_y : accel_target.y
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Control_Tuning { struct PACKED log_Control_Tuning {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint64_t time_us; uint64_t time_us;
@ -389,8 +348,6 @@ const struct LogStructure Sub::log_structure[] = {
LOG_COMMON_STRUCTURES, LOG_COMMON_STRUCTURES,
{ LOG_OPTFLOW_MSG, sizeof(log_Optflow), { LOG_OPTFLOW_MSG, sizeof(log_Optflow),
"OF", "QBffff", "TimeUS,Qual,flowX,flowY,bodyX,bodyY", "s-EEEE", "F-0000" }, "OF", "QBffff", "TimeUS,Qual,flowX,flowY,bodyX,bodyY", "s-EEEE", "F-0000" },
{ LOG_NAV_TUNING_MSG, sizeof(log_Nav_Tuning),
"NTUN", "Qffffffffff", "TimeUS,DPosX,DPosY,PosX,PosY,DVelX,DVelY,VelX,VelY,DAccX,DAccY", "smmmmnnnnoo", "FBBBBBBBBBB" },
{ LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning), { LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning),
"CTUN", "Qfffffffccfhh", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DSAlt,SAlt,TAlt,DCRt,CRt", "s----mmmmmmnn", "F----00BBBBBB" }, "CTUN", "Qfffffffccfhh", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DSAlt,SAlt,TAlt,DCRt,CRt", "s----mmmmmmnn", "F----00BBBBBB" },
{ LOG_MOTBATT_MSG, sizeof(log_MotBatt), { LOG_MOTBATT_MSG, sizeof(log_MotBatt),
@ -430,7 +387,6 @@ void Sub::log_init(void)
#else // LOGGING_ENABLED #else // LOGGING_ENABLED
void Sub::do_erase_logs(void) {} void Sub::do_erase_logs(void) {}
void Sub::Log_Write_Nav_Tuning() {}
void Sub::Log_Write_Control_Tuning() {} void Sub::Log_Write_Control_Tuning() {}
void Sub::Log_Write_Performance() {} void Sub::Log_Write_Performance() {}
void Sub::Log_Write_Attitude(void) {} void Sub::Log_Write_Attitude(void) {}

1
ArduSub/Sub.h
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@ -493,7 +493,6 @@ private:
void gcs_check_input(void); void gcs_check_input(void);
void do_erase_logs(void); void do_erase_logs(void);
void Log_Write_Optflow(); void Log_Write_Optflow();
void Log_Write_Nav_Tuning();
void Log_Write_Control_Tuning(); void Log_Write_Control_Tuning();
void Log_Write_Performance(); void Log_Write_Performance();
void Log_Write_Attitude(); void Log_Write_Attitude();

1
ArduSub/defines.h
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@ -105,7 +105,6 @@ enum LoggingParameters {
TYPE_AIRSTART_MSG, TYPE_AIRSTART_MSG,
TYPE_GROUNDSTART_MSG, TYPE_GROUNDSTART_MSG,
LOG_CONTROL_TUNING_MSG, LOG_CONTROL_TUNING_MSG,
LOG_NAV_TUNING_MSG,
LOG_OPTFLOW_MSG, LOG_OPTFLOW_MSG,
LOG_EVENT_MSG, LOG_EVENT_MSG,
LOG_ERROR_MSG, LOG_ERROR_MSG,