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DataFlash: consolidate GPS, GPS2 messages 

Remove unused dgps_numch, dgps_age from GPS2
Add U field (for use) to both GPS and GPS2
mission-4.1.18
Randy Mackay 10 years ago
parent
5044189ac9
commit
5776620062
2 changed files with 24 additions and 65 deletions
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  1. 27
      libraries/DataFlash/DataFlash.h
  2. 62
      libraries/DataFlash/LogFile.cpp

27
libraries/DataFlash/DataFlash.h
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@ -184,24 +184,7 @@ struct PACKED log_GPS {
uint32_t ground_speed; uint32_t ground_speed;
int32_t ground_course; int32_t ground_course;
float vel_z; float vel_z;
}; uint8_t used;
struct PACKED log_GPS2 {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t status;
uint32_t gps_week_ms;
uint16_t gps_week;
uint8_t num_sats;
uint16_t hdop;
int32_t latitude;
int32_t longitude;
int32_t altitude;
uint32_t ground_speed;
int32_t ground_course;
float vel_z;
uint8_t dgps_numch;
uint32_t dgps_age;
}; };
struct PACKED log_Message { struct PACKED log_Message {
@ -647,7 +630,7 @@ Format characters in the format string for binary log messages
{ LOG_PARAMETER_MSG, sizeof(log_Parameter), \ { LOG_PARAMETER_MSG, sizeof(log_Parameter), \
"PARM", "QNf", "TimeUS,Name,Value" }, \ "PARM", "QNf", "TimeUS,Name,Value" }, \
{ LOG_GPS_MSG, sizeof(log_GPS), \ { LOG_GPS_MSG, sizeof(log_GPS), \
"GPS", "QBIHBcLLeeEef", "TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,RAlt,Alt,Spd,GCrs,VZ" }, \ "GPS", "QBIHBcLLeeEefB", "TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,RAlt,Alt,Spd,GCrs,VZ,U" }, \
{ LOG_IMU_MSG, sizeof(log_IMU), \ { LOG_IMU_MSG, sizeof(log_IMU), \
"IMU", "QffffffIIfBB", "TimeUS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp,GyHlt,AcHlt" }, \ "IMU", "QffffffIIfBB", "TimeUS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp,GyHlt,AcHlt" }, \
{ LOG_MESSAGE_MSG, sizeof(log_Message), \ { LOG_MESSAGE_MSG, sizeof(log_Message), \
@ -679,8 +662,8 @@ Format characters in the format string for binary log messages
// messages for more advanced boards // messages for more advanced boards
#define LOG_EXTRA_STRUCTURES \ #define LOG_EXTRA_STRUCTURES \
{ LOG_GPS2_MSG, sizeof(log_GPS2), \ { LOG_GPS2_MSG, sizeof(log_GPS), \
"GPS2", "QBIHBcLLeEefBI", "TimeUS,Status,GMS,GWk,NSats,HDp,Lat,Lng,Alt,Spd,GCrs,VZ,DSc,DAg" }, \ "GPS2", "QBIHBcLLeeEefB", "TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,RAlt,Alt,Spd,GCrs,VZ,U" }, \
{ LOG_IMU2_MSG, sizeof(log_IMU), \ { LOG_IMU2_MSG, sizeof(log_IMU), \
"IMU2", "QffffffIIfBB", "TimeUS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp,GyHlt,AcHlt" }, \ "IMU2", "QffffffIIfBB", "TimeUS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp,GyHlt,AcHlt" }, \
{ LOG_IMU3_MSG, sizeof(log_IMU), \ { LOG_IMU3_MSG, sizeof(log_IMU), \
@ -783,6 +766,7 @@ enum LogMessages {
LOG_FORMAT_MSG = 128, LOG_FORMAT_MSG = 128,
LOG_PARAMETER_MSG, LOG_PARAMETER_MSG,
LOG_GPS_MSG, LOG_GPS_MSG,
LOG_GPS2_MSG,
LOG_IMU_MSG, LOG_IMU_MSG,
LOG_MESSAGE_MSG, LOG_MESSAGE_MSG,
LOG_RCIN_MSG, LOG_RCIN_MSG,
@ -796,7 +780,6 @@ enum LogMessages {
LOG_EKF2_MSG, LOG_EKF2_MSG,
LOG_EKF3_MSG, LOG_EKF3_MSG,
LOG_EKF4_MSG, LOG_EKF4_MSG,
LOG_GPS2_MSG,
LOG_CMD_MSG, LOG_CMD_MSG,
LOG_RADIO_MSG, LOG_RADIO_MSG,
LOG_ATRP_MSG, LOG_ATRP_MSG,

62
libraries/DataFlash/LogFile.cpp
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@ -706,49 +706,25 @@ void DataFlash_Class::Log_Write_Parameters(void)
// Write an GPS packet // Write an GPS packet
void DataFlash_Class::Log_Write_GPS(const AP_GPS &gps, uint8_t i, int32_t relative_alt) void DataFlash_Class::Log_Write_GPS(const AP_GPS &gps, uint8_t i, int32_t relative_alt)
{ {
if (i == 0) { const struct Location &loc = gps.location(i);
const struct Location &loc = gps.location(i); struct log_GPS pkt = {
struct log_GPS pkt = { LOG_PACKET_HEADER_INIT((uint8_t)(LOG_GPS_MSG+i)),
LOG_PACKET_HEADER_INIT(LOG_GPS_MSG), time_us : hal.scheduler->micros64(),
time_us : hal.scheduler->micros64(), status : (uint8_t)gps.status(i),
status : (uint8_t)gps.status(i), gps_week_ms : gps.time_week_ms(i),
gps_week_ms : gps.time_week_ms(i), gps_week : gps.time_week(i),
gps_week : gps.time_week(i), num_sats : gps.num_sats(i),
num_sats : gps.num_sats(i), hdop : gps.get_hdop(i),
hdop : gps.get_hdop(i), latitude : loc.lat,
latitude : loc.lat, longitude : loc.lng,
longitude : loc.lng, rel_altitude : relative_alt,
rel_altitude : relative_alt, altitude : loc.alt,
altitude : loc.alt, ground_speed : (uint32_t)(gps.ground_speed(i) * 100),
ground_speed : (uint32_t)(gps.ground_speed(i) * 100), ground_course : gps.ground_course_cd(i),
ground_course : gps.ground_course_cd(i), vel_z : gps.velocity(i).z,
vel_z : gps.velocity(i).z, used : (uint8_t)(gps.primary_sensor() == i)
}; };
WriteBlock(&pkt, sizeof(pkt)); WriteBlock(&pkt, sizeof(pkt));
}
#if HAL_CPU_CLASS > HAL_CPU_CLASS_16
if (i > 0) {
const struct Location &loc2 = gps.location(i);
struct log_GPS2 pkt2 = {
LOG_PACKET_HEADER_INIT(LOG_GPS2_MSG),
time_us : hal.scheduler->micros64(),
status : (uint8_t)gps.status(i),
gps_week_ms : gps.time_week_ms(i),
gps_week : gps.time_week(i),
num_sats : gps.num_sats(i),
hdop : gps.get_hdop(i),
latitude : loc2.lat,
longitude : loc2.lng,
altitude : loc2.alt,
ground_speed : (uint32_t)(gps.ground_speed(i)*100),
ground_course : gps.ground_course_cd(i),
vel_z : gps.velocity(i).z,
dgps_numch : 0,
dgps_age : 0
};
WriteBlock(&pkt2, sizeof(pkt2));
}
#endif
} }
// Write an RCIN packet // Write an RCIN packet

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