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AP_Logger: convert Solo gimbal messages to TimeUS from TimeMS

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Also remove unused gimbal3 message entirely
This commit is contained in:
Peter Barker 2020-04-15 12:17:37 +10:00 committed by Peter Barker
parent 7ad8ea017c
commit d8582d864a
1 changed files with 4 additions and 15 deletions
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19
libraries/AP_Logger/LogStructure.h
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@ -287,7 +287,7 @@ struct PACKED log_Vibe {
struct PACKED log_Gimbal1 {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint64_t time_us;
float delta_time;
float delta_angles_x;
float delta_angles_y;
@ -302,7 +302,7 @@ struct PACKED log_Gimbal1 {
struct PACKED log_Gimbal2 {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint64_t time_us;
uint8_t est_sta;
float est_x;
float est_y;
@ -315,14 +315,6 @@ struct PACKED log_Gimbal2 {
float target_z;
};
struct PACKED log_Gimbal3 {
LOG_PACKET_HEADER;
uint32_t time_ms;
int16_t rl_torque_cmd;
int16_t el_torque_cmd;
int16_t az_torque_cmd;
};
struct PACKED log_RCIN {
LOG_PACKET_HEADER;
uint64_t time_us;
@ -2238,11 +2230,9 @@ struct PACKED log_Arm_Disarm {
{ LOG_RPM_MSG, sizeof(log_RPM), \
"RPM", "Qff", "TimeUS,rpm1,rpm2", "sqq", "F00" }, \
{ LOG_GIMBAL1_MSG, sizeof(log_Gimbal1), \
"GMB1", "Iffffffffff", "TimeMS,dt,dax,day,daz,dvx,dvy,dvz,jx,jy,jz", "ssrrrEEELLL", "CC000000000" }, \
"GMB1", "Qffffffffff", "TimeUS,dt,dax,day,daz,dvx,dvy,dvz,jx,jy,jz", "ssrrrEEELLL", "FC000000000" }, \
{ LOG_GIMBAL2_MSG, sizeof(log_Gimbal2), \
"GMB2", "IBfffffffff", "TimeMS,es,ex,ey,ez,rx,ry,rz,tx,ty,tz", "s-rrrEEELLL", "C-000000000" }, \
{ LOG_GIMBAL3_MSG, sizeof(log_Gimbal3), \
"GMB3", "Ihhh", "TimeMS,rl_torque_cmd,el_torque_cmd,az_torque_cmd", "s???", "C???" }, \
"GMB2", "QBfffffffff", "TimeUS,es,ex,ey,ez,rx,ry,rz,tx,ty,tz", "s-rrrEEELLL", "F-000000000" }, \
{ LOG_RATE_MSG, sizeof(log_Rate), \
"RATE", "Qffffffffffff", "TimeUS,RDes,R,ROut,PDes,P,POut,YDes,Y,YOut,ADes,A,AOut", "skk-kk-kk-oo-", "F?????????BB-" }, \
{ LOG_RALLY_MSG, sizeof(log_Rally), \
@ -2394,7 +2384,6 @@ enum LogMessages : uint8_t {
LOG_GIMBAL1_MSG,
LOG_GIMBAL2_MSG,
LOG_GIMBAL3_MSG,
LOG_RATE_MSG,
LOG_RALLY_MSG,
LOG_VISUALODOM_MSG,