e116b1ff0a
This provides a wrapper around sensor and system calls to allow for logging for replay in EKF2 and EKF3 Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
37 lines
1014 B
C++
37 lines
1014 B
C++
#include "AP_DAL_Airspeed.h"
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#include "AP_DAL.h"
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#include <AP_Logger/AP_Logger.h>
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AP_DAL_Airspeed::AP_DAL_Airspeed()
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{
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for (uint8_t i=0; i<ARRAY_SIZE(_RASI); i++) {
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_RASI[i].instance = i;
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}
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}
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void AP_DAL_Airspeed::start_frame()
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{
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const auto *airspeed = AP::airspeed();
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if (airspeed == nullptr) {
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return;
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}
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const log_RASH old = _RASH;
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_RASH.num_sensors = airspeed->get_num_sensors();
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_RASH.primary = airspeed->get_primary();
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WRITE_REPLAY_BLOCK_IFCHANGD(RASH, _RASH, old);
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for (uint8_t i=0; i<ARRAY_SIZE(_RASI); i++) {
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log_RASI &RASI = _RASI[i];
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log_RASI old_RASI = RASI;
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const uint32_t last_update_ms = airspeed->last_update_ms(i);
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_last_logged_update_ms[i] = last_update_ms;
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RASI.last_update_ms = last_update_ms;
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RASI.healthy = airspeed->healthy(i);
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RASI.use = airspeed->use(i);
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RASI.airspeed = airspeed->get_airspeed(i);
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WRITE_REPLAY_BLOCK_IFCHANGD(RASI, RASI, old_RASI);
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}
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}
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