Plane: added time to most plane log messages

ArduPlane/Log.pde

@@ -162,6 +162,7 @@ process_logs(uint8_t argc, const Menu::arg *argv)
 
 struct PACKED log_Attitude {
     LOG_PACKET_HEADER;
+    uint32_t time_ms;
     int16_t roll;
     int16_t pitch;
     uint16_t yaw;
@@ -172,6 +173,7 @@ static void Log_Write_Attitude(void)
 {
     struct log_Attitude pkt = {
         LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG),
+        time_ms : hal.scheduler->millis(),
         roll  : (int16_t)ahrs.roll_sensor,
         pitch : (int16_t)ahrs.pitch_sensor,
         yaw   : (uint16_t)ahrs.yaw_sensor
@@ -297,6 +299,7 @@ static void Log_Write_Startup(uint8_t type)
 
 struct PACKED log_Control_Tuning {
     LOG_PACKET_HEADER;
+    uint32_t time_ms;
     int16_t nav_roll_cd;
     int16_t roll;
     int16_t nav_pitch_cd;
@@ -312,6 +315,7 @@ static void Log_Write_Control_Tuning()
     Vector3f accel = ins.get_accel();
     struct log_Control_Tuning pkt = {
         LOG_PACKET_HEADER_INIT(LOG_CTUN_MSG),
+        time_ms         : hal.scheduler->millis(),
         nav_roll_cd     : (int16_t)nav_roll_cd,
         roll            : (int16_t)ahrs.roll_sensor,
         nav_pitch_cd    : (int16_t)nav_pitch_cd,
@@ -331,6 +335,7 @@ static void Log_Write_TECS_Tuning(void)
 
 struct PACKED log_Nav_Tuning {
     LOG_PACKET_HEADER;
+    uint32_t time_ms;
     uint16_t yaw;
     uint32_t wp_distance;
     uint16_t target_bearing_cd;
@@ -346,6 +351,7 @@ static void Log_Write_Nav_Tuning()
 {
     struct log_Nav_Tuning pkt = {
         LOG_PACKET_HEADER_INIT(LOG_NTUN_MSG),
+        time_ms             : hal.scheduler->millis(),
         yaw                 : (uint16_t)ahrs.yaw_sensor,
         wp_distance         : wp_distance,
         target_bearing_cd   : (uint16_t)nav_controller->target_bearing_cd(),
@@ -360,6 +366,7 @@ static void Log_Write_Nav_Tuning()
 
 struct PACKED log_Mode {
     LOG_PACKET_HEADER;
+    uint32_t time_ms;
     uint8_t mode;
     uint8_t mode_num;
 };
@@ -369,6 +376,7 @@ static void Log_Write_Mode(uint8_t mode)
 {
     struct log_Mode pkt = {
         LOG_PACKET_HEADER_INIT(LOG_MODE_MSG),
+        time_ms  : hal.scheduler->millis(),
         mode     : mode,
         mode_num : mode
     };
@@ -377,6 +385,7 @@ static void Log_Write_Mode(uint8_t mode)
 
 struct PACKED log_Current {
     LOG_PACKET_HEADER;
+    uint32_t time_ms;
     int16_t throttle_in;
     int16_t battery_voltage;
     int16_t current_amps;
@@ -388,6 +397,7 @@ static void Log_Write_Current()
 {
     struct log_Current pkt = {
         LOG_PACKET_HEADER_INIT(LOG_CURRENT_MSG),
+        time_ms                 : hal.scheduler->millis(),
         throttle_in             : channel_throttle->control_in,
         battery_voltage         : (int16_t)(battery.voltage() * 100.0),
         current_amps            : (int16_t)(battery.current_amps() * 100.0),
@@ -400,15 +410,13 @@ static void Log_Write_Current()
 
 struct PACKED log_Compass {
     LOG_PACKET_HEADER;
+    uint32_t time_ms;
     int16_t mag_x;
     int16_t mag_y;
     int16_t mag_z;
     int16_t offset_x;
     int16_t offset_y;
     int16_t offset_z;
-    int16_t motor_offset_x;
-    int16_t motor_offset_y;
-    int16_t motor_offset_z;
 };
 
 // Write a Compass packet. Total length : 15 bytes
@@ -418,15 +426,13 @@ static void Log_Write_Compass()
     Vector3f mag_motor_offsets = compass.get_motor_offsets();
     struct log_Compass pkt = {
         LOG_PACKET_HEADER_INIT(LOG_COMPASS_MSG),
+        time_ms         : hal.scheduler->millis(),
         mag_x           : compass.mag_x,
         mag_y           : compass.mag_y,
         mag_z           : compass.mag_z,
         offset_x        : (int16_t)mag_offsets.x,
         offset_y        : (int16_t)mag_offsets.y,
-        offset_z        : (int16_t)mag_offsets.z,
-        motor_offset_x  : (int16_t)mag_motor_offsets.x,
-        motor_offset_y  : (int16_t)mag_motor_offsets.y,
-        motor_offset_z  : (int16_t)mag_motor_offsets.z
+        offset_z        : (int16_t)mag_offsets.z
     };
     DataFlash.WriteBlock(&pkt, sizeof(pkt));
 }
@@ -444,7 +450,7 @@ static void Log_Write_IMU()
 static const struct LogStructure log_structure[] PROGMEM = {
     LOG_COMMON_STRUCTURES,
     { LOG_ATTITUDE_MSG, sizeof(log_Attitude),       
-      "ATT", "ccC",        "Roll,Pitch,Yaw" },
+      "ATT", "IccC",        "TimeMS,Roll,Pitch,Yaw" },
     { LOG_PERFORMANCE_MSG, sizeof(log_Performance), 
       "PM",  "IHIBBBhhhB", "LTime,MLC,gDt,RNCnt,RNBl,GPScnt,GDx,GDy,GDz,I2CErr" },
     { LOG_CMD_MSG, sizeof(log_Cmd),                 
@@ -454,15 +460,15 @@ static const struct LogStructure log_structure[] PROGMEM = {
     { LOG_STARTUP_MSG, sizeof(log_Startup),         
       "STRT", "BB",         "SType,CTot" },
     { LOG_CTUN_MSG, sizeof(log_Control_Tuning),     
-      "CTUN", "cccchhf",    "NavRoll,Roll,NavPitch,Pitch,ThrOut,RdrOut,AccY" },
+      "CTUN", "Icccchhf",    "TimeMS,NavRoll,Roll,NavPitch,Pitch,ThrOut,RdrOut,AccY" },
     { LOG_NTUN_MSG, sizeof(log_Nav_Tuning),         
-      "NTUN", "CICCccfI",   "Yaw,WpDist,TargBrg,NavBrg,AltErr,Arspd,Alt,GSpdCM" },
+      "NTUN", "ICICCccfI",   "TimeMS,Yaw,WpDist,TargBrg,NavBrg,AltErr,Arspd,Alt,GSpdCM" },
     { LOG_MODE_MSG, sizeof(log_Mode),             
-      "MODE", "MB",         "Mode,ModeNum" },
+      "MODE", "IMB",         "TimeMS,Mode,ModeNum" },
     { LOG_CURRENT_MSG, sizeof(log_Current),             
-      "CURR", "hhhHf",      "Thr,Volt,Curr,Vcc,CurrTot" },
+      "CURR", "IhhhHf",      "TimeMS,Thr,Volt,Curr,Vcc,CurrTot" },
     { LOG_COMPASS_MSG, sizeof(log_Compass),             
-      "MAG", "hhhhhhhhh",   "MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ" },
+      "MAG", "Ihhhhhh",   "TimeMS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ" },
     TECS_LOG_FORMAT(LOG_TECS_MSG),
 };