From dc99a29dfc1a01d12cf5f3d94631cf8c1fdd78ad Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 8 Dec 2015 11:52:03 +1100 Subject: [PATCH] ArduCopter: support for units on fields --- ArduCopter/Log.cpp | 45 ++++++++++++++++++++++++--------------------- 1 file changed, 24 insertions(+), 21 deletions(-) diff --git a/ArduCopter/Log.cpp b/ArduCopter/Log.cpp index efa3046ace..d82d107b8d 100644 --- a/ArduCopter/Log.cpp +++ b/ArduCopter/Log.cpp @@ -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()