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AP_Logger: VISP and VISV get ignored field

zr-v5.1
Randy Mackay 4 years ago
parent
8e8b396afe
commit
d9b90bf19f
3 changed files with 16 additions and 10 deletions
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  1. 4
      libraries/AP_Logger/AP_Logger.h
  2. 10
      libraries/AP_Logger/LogFile.cpp
  3. 12
      libraries/AP_Logger/LogStructure.h

4
libraries/AP_Logger/AP_Logger.h
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@ -279,8 +279,8 @@ public: @@ -279,8 +279,8 @@ public:
uint8_t sequence,
const RallyLocation &rally_point);
void Write_VisualOdom(float time_delta, const Vector3f &angle_delta, const Vector3f &position_delta, float confidence);
void Write_VisualPosition(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw, float pos_err, float ang_err, uint8_t reset_counter);
void Write_VisualVelocity(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, float vel_err, uint8_t reset_counter);
void Write_VisualPosition(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw, float pos_err, float ang_err, uint8_t reset_counter, bool ignored);
void Write_VisualVelocity(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, float vel_err, uint8_t reset_counter, bool ignored);
void Write_AOA_SSA(AP_AHRS &ahrs);
void Write_Beacon(AP_Beacon &beacon);
void Write_Proximity(AP_Proximity &proximity);

10
libraries/AP_Logger/LogFile.cpp
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@ -930,7 +930,7 @@ void AP_Logger::Write_VisualOdom(float time_delta, const Vector3f &angle_delta, @@ -930,7 +930,7 @@ void AP_Logger::Write_VisualOdom(float time_delta, const Vector3f &angle_delta,
}
// Write visual position sensor data. x,y,z are in meters, angles are in degrees
void AP_Logger::Write_VisualPosition(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw, float pos_err, float ang_err, uint8_t reset_counter)
void AP_Logger::Write_VisualPosition(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw, float pos_err, float ang_err, uint8_t reset_counter, bool ignored)
{
const struct log_VisualPosition pkt_visualpos {
LOG_PACKET_HEADER_INIT(LOG_VISUALPOS_MSG),
@ -945,13 +945,14 @@ void AP_Logger::Write_VisualPosition(uint64_t remote_time_us, uint32_t time_ms, @@ -945,13 +945,14 @@ void AP_Logger::Write_VisualPosition(uint64_t remote_time_us, uint32_t time_ms,
yaw : yaw,
pos_err : pos_err,
ang_err : ang_err,
reset_counter : reset_counter
reset_counter : reset_counter,
ignored : (uint8_t)ignored
};
WriteBlock(&pkt_visualpos, sizeof(log_VisualPosition));
}
// Write visual velocity sensor data, velocity in NED meters per second
void AP_Logger::Write_VisualVelocity(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, float vel_err, uint8_t reset_counter)
void AP_Logger::Write_VisualVelocity(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, float vel_err, uint8_t reset_counter, bool ignored)
{
const struct log_VisualVelocity pkt_visualvel {
LOG_PACKET_HEADER_INIT(LOG_VISUALVEL_MSG),
@ -962,7 +963,8 @@ void AP_Logger::Write_VisualVelocity(uint64_t remote_time_us, uint32_t time_ms, @@ -962,7 +963,8 @@ void AP_Logger::Write_VisualVelocity(uint64_t remote_time_us, uint32_t time_ms,
vel_y : vel.y,
vel_z : vel.z,
vel_err : vel_err,
reset_counter : reset_counter
reset_counter : reset_counter,
ignored : (uint8_t)ignored
};
WriteBlock(&pkt_visualvel, sizeof(log_VisualVelocity));
}

12
libraries/AP_Logger/LogStructure.h
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@ -648,6 +648,7 @@ struct PACKED log_VisualPosition { @@ -648,6 +648,7 @@ struct PACKED log_VisualPosition {
float pos_err; // meters
float ang_err; // radians
uint8_t reset_counter;
uint8_t ignored;
};
struct PACKED log_VisualVelocity {
@ -660,6 +661,7 @@ struct PACKED log_VisualVelocity { @@ -660,6 +661,7 @@ struct PACKED log_VisualVelocity {
float vel_z;
float vel_err;
uint8_t reset_counter;
uint8_t ignored;
};
struct PACKED log_ekfBodyOdomDebug {
@ -2268,7 +2270,8 @@ struct PACKED log_PSC { @@ -2268,7 +2270,8 @@ struct PACKED log_PSC {
// @Field: Yaw: Yaw angle
// @Field: PErr: Position estimate error
// @Field: AErr: Attitude estimate error
// @Field: RstCnt: Position reset counter
// @Field: Rst: Position reset counter
// @Field: Ign: Ignored
// @LoggerMessage: VISV
// @Description: Vision Velocity
@ -2279,7 +2282,8 @@ struct PACKED log_PSC { @@ -2279,7 +2282,8 @@ struct PACKED log_PSC {
// @Field: VY: Velocity Y-axis (East-West)
// @Field: VZ: Velocity Z-axis (Down-Up)
// @Field: VErr: Velocity estimate error
// @Field: RstCnt: Velocity reset counter
// @Field: Rst: Velocity reset counter
// @Field: Ign: Ignored
// @LoggerMessage: WENC
// @Description: Wheel encoder measurements
@ -2685,9 +2689,9 @@ struct PACKED log_PSC { @@ -2685,9 +2689,9 @@ struct PACKED log_PSC {
{ LOG_VISUALODOM_MSG, sizeof(log_VisualOdom), \
"VISO", "Qffffffff", "TimeUS,dt,AngDX,AngDY,AngDZ,PosDX,PosDY,PosDZ,conf", "ssrrrmmm-", "FF000000-" }, \
{ LOG_VISUALPOS_MSG, sizeof(log_VisualPosition), \
"VISP", "QQIffffffffB", "TimeUS,RTimeUS,CTimeMS,PX,PY,PZ,Roll,Pitch,Yaw,PErr,AErr,RstCnt", "sssmmmddhmd-", "FFC00000000-" }, \
"VISP", "QQIffffffffBB", "TimeUS,RTimeUS,CTimeMS,PX,PY,PZ,Roll,Pitch,Yaw,PErr,AErr,Rst,Ign", "sssmmmddhmd--", "FFC00000000--" }, \
{ LOG_VISUALVEL_MSG, sizeof(log_VisualVelocity), \
"VISV", "QQIffffB", "TimeUS,RTimeUS,CTimeMS,VX,VY,VZ,VErr,RstCnt", "sssnnnn-", "FFC0000-" }, \
"VISV", "QQIffffBB", "TimeUS,RTimeUS,CTimeMS,VX,VY,VZ,VErr,Rst,Ign", "sssnnnn--", "FFC0000--" }, \
{ LOG_OPTFLOW_MSG, sizeof(log_Optflow), \
"OF", "QBffff", "TimeUS,Qual,flowX,flowY,bodyX,bodyY", "s-EEnn", "F-0000" }, \
{ LOG_WHEELENCODER_MSG, sizeof(log_WheelEncoder), \

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