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DataFlash: added DelaT to delta-angle logs

mission-4.1.18
Andrew Tridgell 9 years ago
parent
4401cbec72
commit
bcefb45e0a
2 changed files with 10 additions and 4 deletions
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  1. 6
      libraries/DataFlash/LogFile.cpp
  2. 8
      libraries/DataFlash/LogStructure.h

6
libraries/DataFlash/LogFile.cpp
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@ -923,6 +923,7 @@ void DataFlash_Class::Log_Write_IMUDT(const AP_InertialSensor &ins)
{ {
float delta_t = ins.get_delta_time(); float delta_t = ins.get_delta_time();
float delta_vel_t = ins.get_delta_velocity_dt(0); float delta_vel_t = ins.get_delta_velocity_dt(0);
float delta_ang_t = ins.get_delta_angle_dt(0);
Vector3f delta_angle, delta_velocity; Vector3f delta_angle, delta_velocity;
ins.get_delta_angle(0, delta_angle); ins.get_delta_angle(0, delta_angle);
ins.get_delta_velocity(0, delta_velocity); ins.get_delta_velocity(0, delta_velocity);
@ -933,6 +934,7 @@ void DataFlash_Class::Log_Write_IMUDT(const AP_InertialSensor &ins)
time_us : time_us, time_us : time_us,
delta_time : delta_t, delta_time : delta_t,
delta_vel_dt : delta_vel_t, delta_vel_dt : delta_vel_t,
delta_ang_dt : delta_ang_t,
delta_ang_x : delta_angle.x, delta_ang_x : delta_angle.x,
delta_ang_y : delta_angle.y, delta_ang_y : delta_angle.y,
delta_ang_z : delta_angle.z, delta_ang_z : delta_angle.z,
@ -946,6 +948,7 @@ void DataFlash_Class::Log_Write_IMUDT(const AP_InertialSensor &ins)
} }
delta_vel_t = ins.get_delta_velocity_dt(1); delta_vel_t = ins.get_delta_velocity_dt(1);
delta_ang_t = ins.get_delta_angle_dt(1);
if (!ins.get_delta_angle(1, delta_angle)) { if (!ins.get_delta_angle(1, delta_angle)) {
delta_angle.zero(); delta_angle.zero();
} }
@ -957,6 +960,7 @@ void DataFlash_Class::Log_Write_IMUDT(const AP_InertialSensor &ins)
time_us : time_us, time_us : time_us,
delta_time : delta_t, delta_time : delta_t,
delta_vel_dt : delta_vel_t, delta_vel_dt : delta_vel_t,
delta_ang_dt : delta_ang_t,
delta_ang_x : delta_angle.x, delta_ang_x : delta_angle.x,
delta_ang_y : delta_angle.y, delta_ang_y : delta_angle.y,
delta_ang_z : delta_angle.z, delta_ang_z : delta_angle.z,
@ -970,6 +974,7 @@ void DataFlash_Class::Log_Write_IMUDT(const AP_InertialSensor &ins)
return; return;
} }
delta_vel_t = ins.get_delta_velocity_dt(1); delta_vel_t = ins.get_delta_velocity_dt(1);
delta_ang_t = ins.get_delta_angle_dt(2);
if (!ins.get_delta_angle(2, delta_angle)) { if (!ins.get_delta_angle(2, delta_angle)) {
delta_angle.zero(); delta_angle.zero();
} }
@ -981,6 +986,7 @@ void DataFlash_Class::Log_Write_IMUDT(const AP_InertialSensor &ins)
time_us : time_us, time_us : time_us,
delta_time : delta_t, delta_time : delta_t,
delta_vel_dt : delta_vel_t, delta_vel_dt : delta_vel_t,
delta_ang_dt : delta_ang_t,
delta_ang_x : delta_angle.x, delta_ang_x : delta_angle.x,
delta_ang_y : delta_angle.y, delta_ang_y : delta_angle.y,
delta_ang_z : delta_angle.z, delta_ang_z : delta_angle.z,

8
libraries/DataFlash/LogStructure.h
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@ -86,7 +86,7 @@ struct PACKED log_IMU {
struct PACKED log_IMUDT { struct PACKED log_IMUDT {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint64_t time_us; uint64_t time_us;
float delta_time, delta_vel_dt; float delta_time, delta_vel_dt, delta_ang_dt;
float delta_ang_x, delta_ang_y, delta_ang_z; float delta_ang_x, delta_ang_y, delta_ang_z;
float delta_vel_x, delta_vel_y, delta_vel_z; float delta_vel_x, delta_vel_y, delta_vel_z;
}; };
@ -864,11 +864,11 @@ Format characters in the format string for binary log messages
{ LOG_VIBE_MSG, sizeof(log_Vibe), \ { LOG_VIBE_MSG, sizeof(log_Vibe), \
"VIBE", "QfffIII", "TimeUS,VibeX,VibeY,VibeZ,Clip0,Clip1,Clip2" }, \ "VIBE", "QfffIII", "TimeUS,VibeX,VibeY,VibeZ,Clip0,Clip1,Clip2" }, \
{ LOG_IMUDT_MSG, sizeof(log_IMUDT), \ { LOG_IMUDT_MSG, sizeof(log_IMUDT), \
"IMT","Qffffffff","TimeUS,DelT,DelvT,DelAX,DelAY,DelAZ,DelVX,DelVY,DelVZ" }, \ "IMT","Qfffffffff","TimeUS,DelT,DelvT,DelaT,DelAX,DelAY,DelAZ,DelVX,DelVY,DelVZ" }, \
{ LOG_IMUDT2_MSG, sizeof(log_IMUDT), \ { LOG_IMUDT2_MSG, sizeof(log_IMUDT), \
"IMT2","Qffffffff","TimeUS,DelT,DelvT,DelAX,DelAY,DelAZ,DelVX,DelVY,DelVZ" }, \ "IMT2","Qfffffffff","TimeUS,DelT,DelvT,DelaT,DelAX,DelAY,DelAZ,DelVX,DelVY,DelVZ" }, \
{ LOG_IMUDT3_MSG, sizeof(log_IMUDT), \ { LOG_IMUDT3_MSG, sizeof(log_IMUDT), \
"IMT3","Qffffffff","TimeUS,DelT,DelvT,DelAX,DelAY,DelAZ,DelVX,DelVY,DelVZ" }, \ "IMT3","Qfffffffff","TimeUS,DelT,DelvT,DelaT,DelAX,DelAY,DelAZ,DelVX,DelVY,DelVZ" }, \
{ LOG_ORGN_MSG, sizeof(log_ORGN), \ { LOG_ORGN_MSG, sizeof(log_ORGN), \
"ORGN","QBLLe","TimeUS,Type,Lat,Lng,Alt" }, \ "ORGN","QBLLe","TimeUS,Type,Lat,Lng,Alt" }, \
{ LOG_RPM_MSG, sizeof(log_RPM), \ { LOG_RPM_MSG, sizeof(log_RPM), \

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