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ArduCopter: support for units on fields

mission-4.1.18
Peter Barker 9 years ago committed by Peter Barker
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d68ba874d0
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dc99a29dfc
1 changed files with 24 additions and 21 deletions
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  1. 45
      ArduCopter/Log.cpp

45
ArduCopter/Log.cpp
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@ -629,48 +629,51 @@ void Copter::Log_Write_Beacon() @@ -629,48 +629,51 @@ void Copter::Log_Write_Beacon()
DataFlash.Log_Write_Beacon(g2.beacon);
}
// type and unit information can be found in
// libraries/DataFlash/Logstructure.h; search for "log_Units" for
// units and "Format characters" for field type information
const struct LogStructure Copter::log_structure[] = {
LOG_COMMON_STRUCTURES,
#if AUTOTUNE_ENABLED == ENABLED
{ LOG_AUTOTUNE_MSG, sizeof(log_AutoTune),
"ATUN", "QBBfffffff", "TimeUS,Axis,TuneStep,Targ,Min,Max,RP,RD,SP,ddt" },
"ATUN", "QBBfffffff", "TimeUS,Axis,TuneStep,Targ,Min,Max,RP,RD,SP,ddt", "s--ddd---o", "F--BBB---0" },
{ LOG_AUTOTUNEDETAILS_MSG, sizeof(log_AutoTuneDetails),
"ATDE", "Qff", "TimeUS,Angle,Rate" },
"ATDE", "Qff", "TimeUS,Angle,Rate", "sdk", "FBB" },
#endif
{ LOG_PARAMTUNE_MSG, sizeof(log_ParameterTuning),
"PTUN", "QBfHHH", "TimeUS,Param,TunVal,CtrlIn,TunLo,TunHi" },
{ LOG_OPTFLOW_MSG, sizeof(log_Optflow),
"OF", "QBffff", "TimeUS,Qual,flowX,flowY,bodyX,bodyY" },
{ LOG_NAV_TUNING_MSG, sizeof(log_Nav_Tuning),
"NTUN", "Qffffffffff", "TimeUS,DPosX,DPosY,PosX,PosY,DVelX,DVelY,VelX,VelY,DAccX,DAccY" },
"PTUN", "QBfHHH", "TimeUS,Param,TunVal,CtrlIn,TunLo,TunHi", "s-----", "F-----" },
{ LOG_OPTFLOW_MSG, sizeof(log_Optflow),
"OF", "QBffff", "TimeUS,Qual,flowX,flowY,bodyX,bodyY", "s-EEEE", "F-0000" },
{ LOG_NAV_TUNING_MSG, sizeof(log_Nav_Tuning),
"NTUN", "Qffffffffff", "TimeUS,DPosX,DPosY,PosX,PosY,DVelX,DVelY,VelX,VelY,DAccX,DAccY", "smmmmnnnnoo", "FBBBBBBBBBB" },
{ LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning),
"CTUN", "Qffffffeccfhh", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DSAlt,SAlt,TAlt,DCRt,CRt" },
"CTUN", "Qffffffeccfhh", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DSAlt,SAlt,TAlt,DCRt,CRt", "s----mmmmmmnn", "F----00BBBBBB" },
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "QHHIhBHII", "TimeUS,NLon,NLoop,MaxT,PMT,I2CErr,INSErr,LogDrop,Mem" },
"PM", "QHHIhBHII", "TimeUS,NLon,NLoop,MaxT,PMT,I2CErr,INSErr,LogDrop,Mem", "s-------b", "F-------0" },
{ LOG_MOTBATT_MSG, sizeof(log_MotBatt),
"MOTB", "Qffff", "TimeUS,LiftMax,BatVolt,BatRes,ThLimit" },
"MOTB", "Qffff", "TimeUS,LiftMax,BatVolt,BatRes,ThLimit", "s-vw-", "F-00-" },
{ LOG_EVENT_MSG, sizeof(log_Event),
"EV", "QB", "TimeUS,Id" },
"EV", "QB", "TimeUS,Id", "s-", "F-" },
{ LOG_DATA_INT16_MSG, sizeof(log_Data_Int16t),
"D16", "QBh", "TimeUS,Id,Value" },
"D16", "QBh", "TimeUS,Id,Value", "s--", "F--" },
{ LOG_DATA_UINT16_MSG, sizeof(log_Data_UInt16t),
"DU16", "QBH", "TimeUS,Id,Value" },
"DU16", "QBH", "TimeUS,Id,Value", "s--", "F--" },
{ LOG_DATA_INT32_MSG, sizeof(log_Data_Int32t),
"D32", "QBi", "TimeUS,Id,Value" },
"D32", "QBi", "TimeUS,Id,Value", "s--", "F--" },
{ LOG_DATA_UINT32_MSG, sizeof(log_Data_UInt32t),
"DU32", "QBI", "TimeUS,Id,Value" },
"DU32", "QBI", "TimeUS,Id,Value", "s--", "F--" },
{ LOG_DATA_FLOAT_MSG, sizeof(log_Data_Float),
"DFLT", "QBf", "TimeUS,Id,Value" },
"DFLT", "QBf", "TimeUS,Id,Value", "s--", "F--" },
{ LOG_ERROR_MSG, sizeof(log_Error),
"ERR", "QBB", "TimeUS,Subsys,ECode" },
"ERR", "QBB", "TimeUS,Subsys,ECode", "s--", "F--" },
{ LOG_HELI_MSG, sizeof(log_Heli),
"HELI", "Qff", "TimeUS,DRRPM,ERRPM" },
"HELI", "Qff", "TimeUS,DRRPM,ERRPM", "s--", "F--" },
{ LOG_PRECLAND_MSG, sizeof(log_Precland),
"PL", "QBBffff", "TimeUS,Heal,TAcq,pX,pY,vX,vY" },
"PL", "QBBffff", "TimeUS,Heal,TAcq,pX,pY,vX,vY", "s--ddmm","F--00BB" },
{ LOG_GUIDEDTARGET_MSG, sizeof(log_GuidedTarget),
"GUID", "QBffffff", "TimeUS,Type,pX,pY,pZ,vX,vY,vZ" },
"GUID", "QBffffff", "TimeUS,Type,pX,pY,pZ,vX,vY,vZ", "s-mmmnnn", "F-000000" },
{ LOG_THROW_MSG, sizeof(log_Throw),
"THRO", "QBffffbbbb", "TimeUS,Stage,Vel,VelZ,Acc,AccEfZ,Throw,AttOk,HgtOk,PosOk" },
"THRO", "QBffffbbbb", "TimeUS,Stage,Vel,VelZ,Acc,AccEfZ,Throw,AttOk,HgtOk,PosOk", "s-nnoo----", "F-0000----" },
};
void Copter::Log_Write_Vehicle_Startup_Messages()

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