aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_Logger: factor Write_PSC[NED] methods to save bytes

Browse Source
This commit is contained in:
Peter Barker 2023-03-09 10:19:18 +11:00 committed by Tom Pittenger
parent 87cb40798f
commit e715e1e14e
3 changed files with 36 additions and 74 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_Logger/AP_Logger.h
View File

@ -582,6 +582,10 @@ private:
/* end support for retrieving logs via mavlink: */
// convenience method for writing out the identical NED PIDs - and
// to save bytes
void Write_PSCx(LogMessages ID, float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel);
#if HAL_LOGGER_FILE_CONTENTS_ENABLED
void log_file_content(FileContent &file_content, const char *filename);
void file_content_update(FileContent &file_content);

58
libraries/AP_Logger/LogFile.cpp
View File

@ -518,53 +518,35 @@ void AP_Logger::Write_Winch(bool healthy, bool thread_end, bool moving, bool clu
WriteBlock(&pkt, sizeof(pkt));
}
void AP_Logger::Write_PSCN(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel)
// a convenience function for writing out the position controller PIDs
void AP_Logger::Write_PSCx(LogMessages id, float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel)
{
const struct log_PSCN pkt{
LOG_PACKET_HEADER_INIT(LOG_PSCN_MSG),
time_us : AP_HAL::micros64(),
pos_target : pos_target * 0.01f,
pos : pos * 0.01f,
vel_desired : vel_desired * 0.01f,
vel_target : vel_target * 0.01f,
vel : vel * 0.01f,
accel_desired : accel_desired * 0.01f,
accel_target : accel_target * 0.01f,
accel : accel * 0.01f
const struct log_PSCx pkt{
LOG_PACKET_HEADER_INIT(id),
time_us : AP_HAL::micros64(),
pos_target : pos_target * 0.01f,
pos : pos * 0.01f,
vel_desired : vel_desired * 0.01f,
vel_target : vel_target * 0.01f,
vel : vel * 0.01f,
accel_desired : accel_desired * 0.01f,
accel_target : accel_target * 0.01f,
accel : accel * 0.01f
};
WriteBlock(&pkt, sizeof(pkt));
}
void AP_Logger::Write_PSCN(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel)
{
Write_PSCx(LOG_PSCN_MSG, pos_target, pos, vel_desired, vel_target, vel, accel_desired, accel_target, accel);
}
void AP_Logger::Write_PSCE(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel)
{
const struct log_PSCE pkt{
LOG_PACKET_HEADER_INIT(LOG_PSCE_MSG),
time_us : AP_HAL::micros64(),
pos_target : pos_target * 0.01f,
pos : pos * 0.01f,
vel_desired : vel_desired * 0.01f,
vel_target : vel_target * 0.01f,
vel : vel * 0.01f,
accel_desired : accel_desired * 0.01f,
accel_target : accel_target * 0.01f,
accel : accel * 0.01f
};
WriteBlock(&pkt, sizeof(pkt));
Write_PSCx(LOG_PSCE_MSG, pos_target, pos, vel_desired, vel_target, vel, accel_desired, accel_target, accel);
}
void AP_Logger::Write_PSCD(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel)
{
const struct log_PSCD pkt{
LOG_PACKET_HEADER_INIT(LOG_PSCD_MSG),
time_us : AP_HAL::micros64(),
pos_target : pos_target * 0.01f,
pos : pos * 0.01f,
vel_desired : vel_desired * 0.01f,
vel_target : vel_target * 0.01f,
vel : vel * 0.01f,
accel_desired : accel_desired * 0.01f,
accel_target : accel_target * 0.01f,
accel : accel * 0.01f
};
WriteBlock(&pkt, sizeof(pkt));
Write_PSCx(LOG_PSCD_MSG, pos_target, pos, vel_desired, vel_target, vel, accel_desired, accel_target, accel);
}

48
libraries/AP_Logger/LogStructure.h
View File

@ -613,36 +613,8 @@ struct PACKED log_Winch {
int8_t temp;
};
// position controller North axis logging
struct PACKED log_PSCN {
LOG_PACKET_HEADER;
uint64_t time_us;
float pos_target;
float pos;
float vel_desired;
float vel_target;
float vel;
float accel_desired;
float accel_target;
float accel;
};
// position controller East axis logging
struct PACKED log_PSCE {
LOG_PACKET_HEADER;
uint64_t time_us;
float pos_target;
float pos;
float vel_desired;
float vel_target;
float vel;
float accel_desired;
float accel_target;
float accel;
};
// position controller Down axis logging
struct PACKED log_PSCD {
// position controller per-axis logging
struct PACKED log_PSCx {
LOG_PACKET_HEADER;
uint64_t time_us;
float pos_target;
@ -718,6 +690,10 @@ struct PACKED log_VER {
#define PID_UNITS "s----------"
#define PID_MULTS "F----------"
#define PIDx_FMT "Qffffffff"
#define PIDx_UNITS "smmnnnooo"
#define PIDx_MULTS "F00000000"
// @LoggerMessage: ADSB
// @Description: Automatic Dependent Serveillance - Broadcast detected vehicle information
// @Field: TimeUS: Time since system startup
@ -1342,12 +1318,12 @@ LOG_STRUCTURE_FROM_VISUALODOM \
"ERR", "QBB", "TimeUS,Subsys,ECode", "s--", "F--" }, \
{ LOG_WINCH_MSG, sizeof(log_Winch), \
"WINC", "QBBBBBfffHfb", "TimeUS,Heal,ThEnd,Mov,Clut,Mode,DLen,Len,DRate,Tens,Vcc,Temp", "s-----mmn?vO", "F-----000000" }, \
{ LOG_PSCN_MSG, sizeof(log_PSCN), \
"PSCN", "Qffffffff", "TimeUS,TPN,PN,DVN,TVN,VN,DAN,TAN,AN", "smmnnnooo", "F00000000" }, \
{ LOG_PSCE_MSG, sizeof(log_PSCE), \
"PSCE", "Qffffffff", "TimeUS,TPE,PE,DVE,TVE,VE,DAE,TAE,AE", "smmnnnooo", "F00000000" }, \
{ LOG_PSCD_MSG, sizeof(log_PSCD), \
"PSCD", "Qffffffff", "TimeUS,TPD,PD,DVD,TVD,VD,DAD,TAD,AD", "smmnnnooo", "F00000000" }, \
{ LOG_PSCN_MSG, sizeof(log_PSCx), \
"PSCN", PIDx_FMT, "TimeUS,TPN,PN,DVN,TVN,VN,DAN,TAN,AN", PIDx_UNITS, PIDx_MULTS }, \
{ LOG_PSCE_MSG, sizeof(log_PSCx), \
"PSCE", PIDx_FMT, "TimeUS,TPE,PE,DVE,TVE,VE,DAE,TAE,AE", PIDx_UNITS, PIDx_MULTS }, \
{ LOG_PSCD_MSG, sizeof(log_PSCx), \
"PSCD", PIDx_FMT, "TimeUS,TPD,PD,DVD,TVD,VD,DAD,TAD,AD", PIDx_UNITS, PIDx_MULTS }, \
{ LOG_STAK_MSG, sizeof(log_STAK), \
"STAK", "QBBHHN", "TimeUS,Id,Pri,Total,Free,Name", "s#----", "F-----", true }, \
{ LOG_FILE_MSG, sizeof(log_File), \