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Replay: added --no-imt flag

mission-4.1.18
Andrew Tridgell 10 years ago
parent
82ad454864
commit
31f7525a61
5 changed files with 40 additions and 20 deletions
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  1. 4
      Tools/Replay/LR_MsgHandler.cpp
  2. 36
      Tools/Replay/LR_MsgHandler.h
  3. 6
      Tools/Replay/LogReader.cpp
  4. 2
      Tools/Replay/LogReader.h
  5. 12
      Tools/Replay/Replay.cpp

4
Tools/Replay/LR_MsgHandler.cpp
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@ -207,6 +207,10 @@ void LR_MsgHandler_IMT_Base::update_from_msg_imt(uint8_t imu_offset, uint8_t *ms @@ -207,6 +207,10 @@ void LR_MsgHandler_IMT_Base::update_from_msg_imt(uint8_t imu_offset, uint8_t *ms
{
wait_timestamp_from_msg(msg);
if (!use_imt) {
return;
}
uint8_t this_imu_mask = 1 << imu_offset;
float delta_time;

36
Tools/Replay/LR_MsgHandler.h
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@ -239,18 +239,21 @@ class LR_MsgHandler_IMT_Base : public LR_MsgHandler @@ -239,18 +239,21 @@ class LR_MsgHandler_IMT_Base : public LR_MsgHandler
{
public:
LR_MsgHandler_IMT_Base(log_Format &_f, DataFlash_Class &_dataflash,
uint64_t &_last_timestamp_usec,
uint8_t &_accel_mask, uint8_t &_gyro_mask,
AP_InertialSensor &_ins) :
uint64_t &_last_timestamp_usec,
uint8_t &_accel_mask, uint8_t &_gyro_mask,
bool &_use_imt,
AP_InertialSensor &_ins) :
LR_MsgHandler(_f, _dataflash, _last_timestamp_usec),
accel_mask(_accel_mask),
gyro_mask(_gyro_mask),
use_imt(_use_imt),
ins(_ins) { };
void update_from_msg_imt(uint8_t imu_offset, uint8_t *msg);
private:
uint8_t &accel_mask;
uint8_t &gyro_mask;
bool &use_imt;
AP_InertialSensor &ins;
};
@ -258,11 +261,12 @@ class LR_MsgHandler_IMT : public LR_MsgHandler_IMT_Base @@ -258,11 +261,12 @@ class LR_MsgHandler_IMT : public LR_MsgHandler_IMT_Base
{
public:
LR_MsgHandler_IMT(log_Format &_f, DataFlash_Class &_dataflash,
uint64_t &_last_timestamp_usec,
uint8_t &_accel_mask, uint8_t &_gyro_mask,
AP_InertialSensor &_ins)
uint64_t &_last_timestamp_usec,
uint8_t &_accel_mask, uint8_t &_gyro_mask,
bool &_use_imt,
AP_InertialSensor &_ins)
: LR_MsgHandler_IMT_Base(_f, _dataflash, _last_timestamp_usec,
_accel_mask, _gyro_mask, _ins) { };
_accel_mask, _gyro_mask, _use_imt, _ins) { };
void process_message(uint8_t *msg);
};
@ -271,11 +275,12 @@ class LR_MsgHandler_IMT2 : public LR_MsgHandler_IMT_Base @@ -271,11 +275,12 @@ class LR_MsgHandler_IMT2 : public LR_MsgHandler_IMT_Base
{
public:
LR_MsgHandler_IMT2(log_Format &_f, DataFlash_Class &_dataflash,
uint64_t &_last_timestamp_usec,
uint8_t &_accel_mask, uint8_t &_gyro_mask,
AP_InertialSensor &_ins)
uint64_t &_last_timestamp_usec,
uint8_t &_accel_mask, uint8_t &_gyro_mask,
bool &_use_imt,
AP_InertialSensor &_ins)
: LR_MsgHandler_IMT_Base(_f, _dataflash, _last_timestamp_usec,
_accel_mask, _gyro_mask, _ins) { };
_accel_mask, _gyro_mask, _use_imt, _ins) { };
void process_message(uint8_t *msg);
};
@ -284,11 +289,12 @@ class LR_MsgHandler_IMT3 : public LR_MsgHandler_IMT_Base @@ -284,11 +289,12 @@ class LR_MsgHandler_IMT3 : public LR_MsgHandler_IMT_Base
{
public:
LR_MsgHandler_IMT3(log_Format &_f, DataFlash_Class &_dataflash,
uint64_t &_last_timestamp_usec,
uint8_t &_accel_mask, uint8_t &_gyro_mask,
AP_InertialSensor &_ins)
uint64_t &_last_timestamp_usec,
uint8_t &_accel_mask, uint8_t &_gyro_mask,
bool &_use_imt,
AP_InertialSensor &_ins)
: LR_MsgHandler_IMT_Base(_f, _dataflash, _last_timestamp_usec,
_accel_mask, _gyro_mask, _ins) { };
_accel_mask, _gyro_mask, _use_imt, _ins) { };
void process_message(uint8_t *msg);
};

6
Tools/Replay/LogReader.cpp
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@ -135,15 +135,15 @@ bool LogReader::handle_log_format_msg(const struct log_Format &f) { @@ -135,15 +135,15 @@ bool LogReader::handle_log_format_msg(const struct log_Format &f) {
} else if (streq(name, "IMT")) {
msgparser[f.type] = new LR_MsgHandler_IMT(formats[f.type], dataflash,
last_timestamp_usec,
accel_mask, gyro_mask, ins);
accel_mask, gyro_mask, use_imt, ins);
} else if (streq(name, "IMT2")) {
msgparser[f.type] = new LR_MsgHandler_IMT2(formats[f.type], dataflash,
last_timestamp_usec,
accel_mask, gyro_mask, ins);
accel_mask, gyro_mask, use_imt, ins);
} else if (streq(name, "IMT3")) {
msgparser[f.type] = new LR_MsgHandler_IMT3(formats[f.type], dataflash,
last_timestamp_usec,
accel_mask, gyro_mask, ins);
accel_mask, gyro_mask, use_imt, ins);
} else if (streq(name, "SIM")) {
msgparser[f.type] = new LR_MsgHandler_SIM(formats[f.type], dataflash,
last_timestamp_usec,

2
Tools/Replay/LogReader.h
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@ -20,6 +20,7 @@ public: @@ -20,6 +20,7 @@ public:
void set_accel_mask(uint8_t mask) { accel_mask = mask; }
void set_gyro_mask(uint8_t mask) { gyro_mask = mask; }
void set_use_imt(bool _use_imt) { use_imt = _use_imt; }
uint64_t last_timestamp_us(void) const { return last_timestamp_usec; }
virtual bool handle_log_format_msg(const struct log_Format &f);
@ -36,6 +37,7 @@ private: @@ -36,6 +37,7 @@ private:
uint8_t accel_mask;
uint8_t gyro_mask;
bool use_imt = true;
uint32_t ground_alt_cm;

12
Tools/Replay/Replay.cpp
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@ -118,6 +118,7 @@ private: @@ -118,6 +118,7 @@ private:
bool have_imt = false;
bool have_imt2 = false;
bool have_fram = false;
bool use_imt = true;
void _parse_command_line(uint8_t argc, char * const argv[]);
@ -196,6 +197,7 @@ void Replay::usage(void) @@ -196,6 +197,7 @@ void Replay::usage(void)
::printf("\t--accel-mask MASK set accel mask (1=accel1 only, 2=accel2 only, 3=both)\n");
::printf("\t--gyro-mask MASK set gyro mask (1=gyro1 only, 2=gyro2 only, 3=both)\n");
::printf("\t--arm-time time arm at time (milliseconds)\n");
::printf("\t--no-imt don't use IMT data\n");
}
void Replay::_parse_command_line(uint8_t argc, char * const argv[])
@ -208,6 +210,7 @@ void Replay::_parse_command_line(uint8_t argc, char * const argv[]) @@ -208,6 +210,7 @@ void Replay::_parse_command_line(uint8_t argc, char * const argv[])
{"accel-mask", true, 0, 'a'},
{"gyro-mask", true, 0, 'g'},
{"arm-time", true, 0, 'A'},
{"no-imt", false, 0, 'n'},
{0, false, 0, 0}
};
@ -237,6 +240,11 @@ void Replay::_parse_command_line(uint8_t argc, char * const argv[]) @@ -237,6 +240,11 @@ void Replay::_parse_command_line(uint8_t argc, char * const argv[])
arm_time_ms = strtol(gopt.optarg, NULL, 0);
break;
case 'n':
use_imt = false;
logreader.set_use_imt(use_imt);
break;
case 'p':
const char *eq = strchr(gopt.optarg, '=');
if (eq == NULL) {
@ -475,10 +483,10 @@ void Replay::read_sensors(const char *type) @@ -475,10 +483,10 @@ void Replay::read_sensors(const char *type)
if (streq(type,"IMU2")) {
have_imu2 = true;
}
if (streq(type,"IMT")) {
if (use_imt && streq(type,"IMT")) {
have_imt = true;
}
if (streq(type,"IMT2")) {
if (use_imt && streq(type,"IMT2")) {
have_imt2 = true;
}

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