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DataFlash: added GPS2 logging

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This commit is contained in:
Andrew Tridgell 2013-12-21 22:24:51 +11:00
parent 0115b9fa07
commit e410733682
2 changed files with 45 additions and 0 deletions
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22
libraries/DataFlash/DataFlash.h
View File

@ -48,6 +48,7 @@ public:
void Log_Write_Format(const struct LogStructure *structure);
void Log_Write_Parameter(const char *name, float value);
void Log_Write_GPS(const GPS *gps, int32_t relative_alt);
void Log_Write_GPS2(const GPS *gps);
void Log_Write_IMU(const AP_InertialSensor &ins);
void Log_Write_RCIN(void);
void Log_Write_RCOUT(void);
@ -171,6 +172,24 @@ struct PACKED log_GPS {
uint32_t apm_time;
};
struct PACKED log_GPS2 {
LOG_PACKET_HEADER;
uint8_t status;
uint32_t gps_week_ms;
uint16_t gps_week;
uint8_t num_sats;
int16_t hdop;
int32_t latitude;
int32_t longitude;
int32_t altitude;
uint32_t ground_speed;
int32_t ground_course;
float vel_z;
uint32_t apm_time;
uint8_t dgps_numch;
uint32_t dgps_age;
};
struct PACKED log_Message {
LOG_PACKET_HEADER;
char msg[64];
@ -306,6 +325,8 @@ struct PACKED log_EKF4 {
"PARM", "Nf", "Name,Value" }, \
{ LOG_GPS_MSG, sizeof(log_GPS), \
"GPS", "BIHBcLLeeEefI", "Status,TimeMS,Week,NSats,HDop,Lat,Lng,RelAlt,Alt,Spd,GCrs,VZ,T" }, \
{ LOG_GPS2_MSG, sizeof(log_GPS2), \
"GPS2", "BIHBcLLeEefIBI", "Status,TimeMS,Week,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,T,DSc,DAg" }, \
{ LOG_IMU_MSG, sizeof(log_IMU), \
"IMU", "Iffffff", "TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ" }, \
{ LOG_IMU2_MSG, sizeof(log_IMU), \
@ -350,6 +371,7 @@ struct PACKED log_EKF4 {
#define LOG_EKF2_MSG 141
#define LOG_EKF3_MSG 142
#define LOG_EKF4_MSG 143
#define LOG_GPS2_MSG 144
#include "DataFlash_Block.h"
#include "DataFlash_File.h"

23
libraries/DataFlash/LogFile.cpp
View File

@ -673,6 +673,29 @@ void DataFlash_Class::Log_Write_GPS(const GPS *gps, int32_t relative_alt)
WriteBlock(&pkt, sizeof(pkt));
}
// Write a GPS2 packet
void DataFlash_Class::Log_Write_GPS2(const GPS *gps)
{
struct log_GPS2 pkt = {
LOG_PACKET_HEADER_INIT(LOG_GPS2_MSG),
status : (uint8_t)gps->status(),
gps_week_ms : gps->time_week_ms,
gps_week : gps->time_week,
num_sats : gps->num_sats,
hdop : gps->hdop,
latitude : gps->latitude,
longitude : gps->longitude,
altitude : gps->altitude_cm,
ground_speed : gps->ground_speed_cm,
ground_course : gps->ground_course_cd,
vel_z : gps->velocity_down(),
apm_time : hal.scheduler->millis(),
dgps_numch : 0,
dgps_age : 0
};
WriteBlock(&pkt, sizeof(pkt));
}
// Write an RCIN packet
void DataFlash_Class::Log_Write_RCIN(void)
{