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602 lines
21 KiB
602 lines
21 KiB
#include "Copter.h" |
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#if LOGGING_ENABLED == ENABLED |
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// Code to Write and Read packets from AP_Logger log memory |
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// Code to interact with the user to dump or erase logs |
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struct PACKED log_Control_Tuning { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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float throttle_in; |
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float angle_boost; |
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float throttle_out; |
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float throttle_hover; |
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float desired_alt; |
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float inav_alt; |
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int32_t baro_alt; |
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float desired_rangefinder_alt; |
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float rangefinder_alt; |
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float terr_alt; |
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int16_t target_climb_rate; |
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int16_t climb_rate; |
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}; |
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// Write a control tuning packet |
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void Copter::Log_Write_Control_Tuning() |
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{ |
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// get terrain altitude |
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float terr_alt = 0.0f; |
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#if AP_TERRAIN_AVAILABLE |
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if (!terrain.height_above_terrain(terr_alt, true)) { |
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terr_alt = logger.quiet_nan(); |
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} |
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#endif |
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float des_alt_m = 0.0f; |
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int16_t target_climb_rate_cms = 0; |
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if (!flightmode->has_manual_throttle()) { |
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des_alt_m = pos_control->get_pos_target_z_cm() * 0.01f; |
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target_climb_rate_cms = pos_control->get_vel_target_z_cms(); |
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} |
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// get surface tracking alts |
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float desired_rangefinder_alt; |
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if (!surface_tracking.get_target_dist_for_logging(desired_rangefinder_alt)) { |
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desired_rangefinder_alt = AP::logger().quiet_nan(); |
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} |
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struct log_Control_Tuning pkt = { |
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LOG_PACKET_HEADER_INIT(LOG_CONTROL_TUNING_MSG), |
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time_us : AP_HAL::micros64(), |
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throttle_in : attitude_control->get_throttle_in(), |
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angle_boost : attitude_control->angle_boost(), |
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throttle_out : motors->get_throttle(), |
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throttle_hover : motors->get_throttle_hover(), |
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desired_alt : des_alt_m, |
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inav_alt : inertial_nav.get_position_z_up_cm() * 0.01f, |
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baro_alt : baro_alt, |
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desired_rangefinder_alt : desired_rangefinder_alt, |
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rangefinder_alt : surface_tracking.get_dist_for_logging(), |
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terr_alt : terr_alt, |
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target_climb_rate : target_climb_rate_cms, |
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climb_rate : int16_t(inertial_nav.get_velocity_z_up_cms()) // float -> int16_t |
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}; |
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logger.WriteBlock(&pkt, sizeof(pkt)); |
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} |
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// Write an attitude packet |
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void Copter::Log_Write_Attitude() |
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{ |
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Vector3f targets = attitude_control->get_att_target_euler_cd(); |
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targets.z = wrap_360_cd(targets.z); |
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ahrs.Write_Attitude(targets); |
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ahrs_view->Write_Rate(*motors, *attitude_control, *pos_control); |
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} |
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// Write PIDS packets |
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void Copter::Log_Write_PIDS() |
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{ |
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if (should_log(MASK_LOG_PID)) { |
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logger.Write_PID(LOG_PIDR_MSG, attitude_control->get_rate_roll_pid().get_pid_info()); |
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logger.Write_PID(LOG_PIDP_MSG, attitude_control->get_rate_pitch_pid().get_pid_info()); |
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logger.Write_PID(LOG_PIDY_MSG, attitude_control->get_rate_yaw_pid().get_pid_info()); |
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logger.Write_PID(LOG_PIDA_MSG, pos_control->get_accel_z_pid().get_pid_info() ); |
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if (should_log(MASK_LOG_NTUN) && (flightmode->requires_GPS() || landing_with_GPS())) { |
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logger.Write_PID(LOG_PIDN_MSG, pos_control->get_vel_xy_pid().get_pid_info_x()); |
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logger.Write_PID(LOG_PIDE_MSG, pos_control->get_vel_xy_pid().get_pid_info_y()); |
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} |
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} |
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} |
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// Write an EKF and POS packet |
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void Copter::Log_Write_EKF_POS() |
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{ |
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AP::ahrs().Log_Write(); |
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} |
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struct PACKED log_Data_Int16t { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t id; |
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int16_t data_value; |
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}; |
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// Write an int16_t data packet |
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UNUSED_FUNCTION |
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void Copter::Log_Write_Data(LogDataID id, int16_t value) |
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{ |
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if (should_log(MASK_LOG_ANY)) { |
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struct log_Data_Int16t pkt = { |
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LOG_PACKET_HEADER_INIT(LOG_DATA_INT16_MSG), |
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time_us : AP_HAL::micros64(), |
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id : (uint8_t)id, |
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data_value : value |
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}; |
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logger.WriteCriticalBlock(&pkt, sizeof(pkt)); |
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} |
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} |
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struct PACKED log_Data_UInt16t { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t id; |
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uint16_t data_value; |
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}; |
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// Write an uint16_t data packet |
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UNUSED_FUNCTION |
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void Copter::Log_Write_Data(LogDataID id, uint16_t value) |
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{ |
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if (should_log(MASK_LOG_ANY)) { |
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struct log_Data_UInt16t pkt = { |
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LOG_PACKET_HEADER_INIT(LOG_DATA_UINT16_MSG), |
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time_us : AP_HAL::micros64(), |
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id : (uint8_t)id, |
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data_value : value |
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}; |
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logger.WriteCriticalBlock(&pkt, sizeof(pkt)); |
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} |
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} |
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struct PACKED log_Data_Int32t { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t id; |
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int32_t data_value; |
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}; |
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// Write an int32_t data packet |
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void Copter::Log_Write_Data(LogDataID id, int32_t value) |
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{ |
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if (should_log(MASK_LOG_ANY)) { |
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struct log_Data_Int32t pkt = { |
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LOG_PACKET_HEADER_INIT(LOG_DATA_INT32_MSG), |
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time_us : AP_HAL::micros64(), |
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id : (uint8_t)id, |
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data_value : value |
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}; |
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logger.WriteCriticalBlock(&pkt, sizeof(pkt)); |
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} |
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} |
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struct PACKED log_Data_UInt32t { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t id; |
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uint32_t data_value; |
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}; |
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// Write a uint32_t data packet |
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void Copter::Log_Write_Data(LogDataID id, uint32_t value) |
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{ |
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if (should_log(MASK_LOG_ANY)) { |
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struct log_Data_UInt32t pkt = { |
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LOG_PACKET_HEADER_INIT(LOG_DATA_UINT32_MSG), |
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time_us : AP_HAL::micros64(), |
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id : (uint8_t)id, |
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data_value : value |
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}; |
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logger.WriteCriticalBlock(&pkt, sizeof(pkt)); |
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} |
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} |
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struct PACKED log_Data_Float { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t id; |
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float data_value; |
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}; |
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// Write a float data packet |
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UNUSED_FUNCTION |
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void Copter::Log_Write_Data(LogDataID id, float value) |
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{ |
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if (should_log(MASK_LOG_ANY)) { |
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struct log_Data_Float pkt = { |
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LOG_PACKET_HEADER_INIT(LOG_DATA_FLOAT_MSG), |
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time_us : AP_HAL::micros64(), |
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id : (uint8_t)id, |
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data_value : value |
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}; |
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logger.WriteCriticalBlock(&pkt, sizeof(pkt)); |
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} |
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} |
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struct PACKED log_ParameterTuning { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t parameter; // parameter we are tuning, e.g. 39 is CH6_CIRCLE_RATE |
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float tuning_value; // normalized value used inside tuning() function |
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float tuning_min; // tuning minimum value |
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float tuning_max; // tuning maximum value |
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}; |
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void Copter::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max) |
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{ |
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struct log_ParameterTuning pkt_tune = { |
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LOG_PACKET_HEADER_INIT(LOG_PARAMTUNE_MSG), |
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time_us : AP_HAL::micros64(), |
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parameter : param, |
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tuning_value : tuning_val, |
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tuning_min : tune_min, |
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tuning_max : tune_max |
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}; |
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logger.WriteBlock(&pkt_tune, sizeof(pkt_tune)); |
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} |
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void Copter::Log_Video_Stabilisation() |
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{ |
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if (!should_log(MASK_LOG_VIDEO_STABILISATION)) { |
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return; |
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} |
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ahrs.write_video_stabilisation(); |
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} |
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struct PACKED log_SysIdD { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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float waveform_time; |
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float waveform_sample; |
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float waveform_freq; |
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float angle_x; |
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float angle_y; |
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float angle_z; |
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float accel_x; |
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float accel_y; |
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float accel_z; |
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}; |
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// Write an rate packet |
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void Copter::Log_Write_SysID_Data(float waveform_time, float waveform_sample, float waveform_freq, float angle_x, float angle_y, float angle_z, float accel_x, float accel_y, float accel_z) |
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{ |
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#if MODE_SYSTEMID_ENABLED == ENABLED |
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struct log_SysIdD pkt_sidd = { |
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LOG_PACKET_HEADER_INIT(LOG_SYSIDD_MSG), |
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time_us : AP_HAL::micros64(), |
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waveform_time : waveform_time, |
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waveform_sample : waveform_sample, |
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waveform_freq : waveform_freq, |
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angle_x : angle_x, |
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angle_y : angle_y, |
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angle_z : angle_z, |
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accel_x : accel_x, |
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accel_y : accel_y, |
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accel_z : accel_z |
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}; |
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logger.WriteBlock(&pkt_sidd, sizeof(pkt_sidd)); |
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#endif |
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} |
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struct PACKED log_SysIdS { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t systemID_axis; |
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float waveform_magnitude; |
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float frequency_start; |
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float frequency_stop; |
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float time_fade_in; |
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float time_const_freq; |
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float time_record; |
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float time_fade_out; |
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}; |
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// Write an rate packet |
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void Copter::Log_Write_SysID_Setup(uint8_t systemID_axis, float waveform_magnitude, float frequency_start, float frequency_stop, float time_fade_in, float time_const_freq, float time_record, float time_fade_out) |
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{ |
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#if MODE_SYSTEMID_ENABLED == ENABLED |
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struct log_SysIdS pkt_sids = { |
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LOG_PACKET_HEADER_INIT(LOG_SYSIDS_MSG), |
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time_us : AP_HAL::micros64(), |
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systemID_axis : systemID_axis, |
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waveform_magnitude : waveform_magnitude, |
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frequency_start : frequency_start, |
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frequency_stop : frequency_stop, |
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time_fade_in : time_fade_in, |
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time_const_freq : time_const_freq, |
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time_record : time_record, |
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time_fade_out : time_fade_out |
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}; |
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logger.WriteBlock(&pkt_sids, sizeof(pkt_sids)); |
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#endif |
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} |
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#if FRAME_CONFIG == HELI_FRAME |
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struct PACKED log_Heli { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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float desired_rotor_speed; |
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float main_rotor_speed; |
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float governor_output; |
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float control_output; |
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}; |
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// Write an helicopter packet |
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void Copter::Log_Write_Heli() |
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{ |
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struct log_Heli pkt_heli = { |
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LOG_PACKET_HEADER_INIT(LOG_HELI_MSG), |
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time_us : AP_HAL::micros64(), |
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desired_rotor_speed : motors->get_desired_rotor_speed(), |
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main_rotor_speed : motors->get_main_rotor_speed(), |
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governor_output : motors->get_governor_output(), |
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control_output : motors->get_control_output(), |
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}; |
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logger.WriteBlock(&pkt_heli, sizeof(pkt_heli)); |
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} |
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#endif |
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// guided position target logging |
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struct PACKED log_Guided_Position_Target { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t type; |
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float pos_target_x; |
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float pos_target_y; |
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float pos_target_z; |
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uint8_t terrain; |
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float vel_target_x; |
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float vel_target_y; |
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float vel_target_z; |
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float accel_target_x; |
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float accel_target_y; |
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float accel_target_z; |
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}; |
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// guided attitude target logging |
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struct PACKED log_Guided_Attitude_Target { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t type; |
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float roll; |
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float pitch; |
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float yaw; |
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float roll_rate; |
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float pitch_rate; |
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float yaw_rate; |
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float thrust; |
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float climb_rate; |
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}; |
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// Write a Guided mode position target |
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// pos_target is lat, lon, alt OR offset from ekf origin in cm |
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// terrain should be 0 if pos_target.z is alt-above-ekf-origin, 1 if alt-above-terrain |
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// vel_target is cm/s |
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void Copter::Log_Write_Guided_Position_Target(ModeGuided::SubMode target_type, const Vector3f& pos_target, bool terrain_alt, const Vector3f& vel_target, const Vector3f& accel_target) |
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{ |
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const log_Guided_Position_Target pkt { |
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LOG_PACKET_HEADER_INIT(LOG_GUIDED_POSITION_TARGET_MSG), |
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time_us : AP_HAL::micros64(), |
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type : (uint8_t)target_type, |
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pos_target_x : pos_target.x, |
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pos_target_y : pos_target.y, |
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pos_target_z : pos_target.z, |
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terrain : terrain_alt, |
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vel_target_x : vel_target.x, |
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vel_target_y : vel_target.y, |
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vel_target_z : vel_target.z, |
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accel_target_x : accel_target.x, |
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accel_target_y : accel_target.y, |
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accel_target_z : accel_target.z |
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}; |
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logger.WriteBlock(&pkt, sizeof(pkt)); |
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} |
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// Write a Guided mode attitude target |
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// roll, pitch and yaw are in radians |
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// ang_vel: angular velocity, [roll rate, pitch_rate, yaw_rate] in radians/sec |
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// thrust is between 0 to 1 |
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// climb_rate is in (m/s) |
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void Copter::Log_Write_Guided_Attitude_Target(ModeGuided::SubMode target_type, float roll, float pitch, float yaw, const Vector3f &ang_vel, float thrust, float climb_rate) |
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{ |
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const log_Guided_Attitude_Target pkt { |
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LOG_PACKET_HEADER_INIT(LOG_GUIDED_ATTITUDE_TARGET_MSG), |
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time_us : AP_HAL::micros64(), |
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type : (uint8_t)target_type, |
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roll : degrees(roll), // rad to deg |
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pitch : degrees(pitch), // rad to deg |
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yaw : degrees(yaw), // rad to deg |
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roll_rate : degrees(ang_vel.x), // rad/s to deg/s |
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pitch_rate : degrees(ang_vel.y), // rad/s to deg/s |
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yaw_rate : degrees(ang_vel.z), // rad/s to deg/s |
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thrust : thrust, |
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climb_rate : climb_rate |
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}; |
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logger.WriteBlock(&pkt, sizeof(pkt)); |
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} |
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// type and unit information can be found in |
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// libraries/AP_Logger/Logstructure.h; search for "log_Units" for |
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// units and "Format characters" for field type information |
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const struct LogStructure Copter::log_structure[] = { |
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LOG_COMMON_STRUCTURES, |
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// @LoggerMessage: PTUN |
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// @Description: Parameter Tuning information |
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// @URL: https://ardupilot.org/copter/docs/tuning.html#in-flight-tuning |
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// @Field: TimeUS: Time since system startup |
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// @Field: Param: Parameter being tuned |
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// @Field: TunVal: Normalized value used inside tuning() function |
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// @Field: TunMin: Tuning minimum limit |
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// @Field: TunMax: Tuning maximum limit |
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{ LOG_PARAMTUNE_MSG, sizeof(log_ParameterTuning), |
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"PTUN", "QBfff", "TimeUS,Param,TunVal,TunMin,TunMax", "s----", "F----" }, |
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// @LoggerMessage: CTUN |
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// @Description: Control Tuning information |
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// @Field: TimeUS: Time since system startup |
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// @Field: ThI: throttle input |
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// @Field: ABst: angle boost |
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// @Field: ThO: throttle output |
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// @Field: ThH: calculated hover throttle |
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// @Field: DAlt: desired altitude |
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// @Field: Alt: achieved altitude |
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// @Field: BAlt: barometric altitude |
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// @Field: DSAlt: desired rangefinder altitude |
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// @Field: SAlt: achieved rangefinder altitude |
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// @Field: TAlt: terrain altitude |
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// @Field: DCRt: desired climb rate |
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// @Field: CRt: climb rate |
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// @LoggerMessage: D16 |
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// @Description: Generic 16-bit-signed-integer storage |
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// @Field: TimeUS: Time since system startup |
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// @Field: Id: Data type identifier |
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// @Field: Value: Value |
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// @LoggerMessage: DU16 |
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// @Description: Generic 16-bit-unsigned-integer storage |
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// @Field: TimeUS: Time since system startup |
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// @Field: Id: Data type identifier |
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// @Field: Value: Value |
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// @LoggerMessage: D32 |
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// @Description: Generic 32-bit-signed-integer storage |
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// @Field: TimeUS: Time since system startup |
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// @Field: Id: Data type identifier |
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// @Field: Value: Value |
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// @LoggerMessage: DFLT |
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// @Description: Generic float storage |
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// @Field: TimeUS: Time since system startup |
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// @Field: Id: Data type identifier |
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// @Field: Value: Value |
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// @LoggerMessage: DU32 |
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// @Description: Generic 32-bit-unsigned-integer storage |
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// @Field: TimeUS: Time since system startup |
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// @Field: Id: Data type identifier |
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// @Field: Value: Value |
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|
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{ LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning), |
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"CTUN", "Qffffffefffhh", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DSAlt,SAlt,TAlt,DCRt,CRt", "s----mmmmmmnn", "F----00B000BB" , true }, |
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{ LOG_DATA_INT16_MSG, sizeof(log_Data_Int16t), |
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"D16", "QBh", "TimeUS,Id,Value", "s--", "F--" }, |
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{ LOG_DATA_UINT16_MSG, sizeof(log_Data_UInt16t), |
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"DU16", "QBH", "TimeUS,Id,Value", "s--", "F--" }, |
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{ LOG_DATA_INT32_MSG, sizeof(log_Data_Int32t), |
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"D32", "QBi", "TimeUS,Id,Value", "s--", "F--" }, |
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{ LOG_DATA_UINT32_MSG, sizeof(log_Data_UInt32t), |
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"DU32", "QBI", "TimeUS,Id,Value", "s--", "F--" }, |
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{ LOG_DATA_FLOAT_MSG, sizeof(log_Data_Float), |
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"DFLT", "QBf", "TimeUS,Id,Value", "s--", "F--" }, |
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|
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// @LoggerMessage: HELI |
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// @Description: Helicopter related messages |
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// @Field: TimeUS: Time since system startup |
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// @Field: DRRPM: Desired rotor speed |
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// @Field: ERRPM: Estimated rotor speed |
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// @Field: Gov: Governor Output |
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// @Field: Throt: Throttle output |
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#if FRAME_CONFIG == HELI_FRAME |
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{ LOG_HELI_MSG, sizeof(log_Heli), |
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"HELI", "Qffff", "TimeUS,DRRPM,ERRPM,Gov,Throt", "s----", "F----" , true }, |
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#endif |
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// @LoggerMessage: SIDD |
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// @Description: System ID data |
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// @Field: TimeUS: Time since system startup |
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// @Field: Time: Time reference for waveform |
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// @Field: Targ: Current waveform sample |
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// @Field: F: Instantaneous waveform frequency |
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// @Field: Gx: Delta angle, X-Axis |
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// @Field: Gy: Delta angle, Y-Axis |
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// @Field: Gz: Delta angle, Z-Axis |
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// @Field: Ax: Delta velocity, X-Axis |
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// @Field: Ay: Delta velocity, Y-Axis |
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// @Field: Az: Delta velocity, Z-Axis |
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|
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{ LOG_SYSIDD_MSG, sizeof(log_SysIdD), |
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"SIDD", "Qfffffffff", "TimeUS,Time,Targ,F,Gx,Gy,Gz,Ax,Ay,Az", "ss-zkkkooo", "F---------" , true }, |
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|
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// @LoggerMessage: SIDS |
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// @Description: System ID settings |
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// @Field: TimeUS: Time since system startup |
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// @Field: Ax: The axis which is being excited |
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// @Field: Mag: Magnitude of the chirp waveform |
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// @Field: FSt: Frequency at the start of chirp |
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// @Field: FSp: Frequency at the end of chirp |
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// @Field: TFin: Time to reach maximum amplitude of chirp |
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// @Field: TC: Time at constant frequency before chirp starts |
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// @Field: TR: Time taken to complete chirp waveform |
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// @Field: TFout: Time to reach zero amplitude after chirp finishes |
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{ LOG_SYSIDS_MSG, sizeof(log_SysIdS), |
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"SIDS", "QBfffffff", "TimeUS,Ax,Mag,FSt,FSp,TFin,TC,TR,TFout", "s--ssssss", "F--------" , true }, |
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|
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// @LoggerMessage: GUIP |
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// @Description: Guided mode position target information |
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// @Field: TimeUS: Time since system startup |
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// @Field: Type: Type of guided mode |
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// @Field: pX: Target position, X-Axis |
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// @Field: pY: Target position, Y-Axis |
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// @Field: pZ: Target position, Z-Axis |
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// @Field: Terrain: Target position, Z-Axis is alt above terrain |
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// @Field: vX: Target velocity, X-Axis |
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// @Field: vY: Target velocity, Y-Axis |
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// @Field: vZ: Target velocity, Z-Axis |
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// @Field: aX: Target acceleration, X-Axis |
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// @Field: aY: Target acceleration, Y-Axis |
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// @Field: aZ: Target acceleration, Z-Axis |
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{ LOG_GUIDED_POSITION_TARGET_MSG, sizeof(log_Guided_Position_Target), |
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"GUIP", "QBfffbffffff", "TimeUS,Type,pX,pY,pZ,Terrain,vX,vY,vZ,aX,aY,aZ", "s-mmm-nnnooo", "F-BBB-BBBBBB" , true }, |
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|
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// @LoggerMessage: GUIA |
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// @Description: Guided mode attitude target information |
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// @Field: TimeUS: Time since system startup |
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// @Field: Type: Type of guided mode |
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// @Field: Roll: Target attitude, Roll |
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// @Field: Pitch: Target attitude, Pitch |
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// @Field: Yaw: Target attitude, Yaw |
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// @Field: RollRt: Roll rate |
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// @Field: PitchRt: Pitch rate |
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// @Field: YawRt: Yaw rate |
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// @Field: Thrust: Thrust |
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// @Field: ClimbRt: Climb rate |
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|
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{ LOG_GUIDED_ATTITUDE_TARGET_MSG, sizeof(log_Guided_Attitude_Target), |
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"GUIA", "QBffffffff", "TimeUS,Type,Roll,Pitch,Yaw,RollRt,PitchRt,YawRt,Thrust,ClimbRt", "s-dddkkk-n", "F-000000-0" , true }, |
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}; |
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|
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void Copter::Log_Write_Vehicle_Startup_Messages() |
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{ |
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// only 200(?) bytes are guaranteed by AP_Logger |
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char frame_and_type_string[30]; |
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copter.motors->get_frame_and_type_string(frame_and_type_string, ARRAY_SIZE(frame_and_type_string)); |
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logger.Write_MessageF("%s", frame_and_type_string); |
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logger.Write_Mode((uint8_t)flightmode->mode_number(), control_mode_reason); |
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ahrs.Log_Write_Home_And_Origin(); |
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gps.Write_AP_Logger_Log_Startup_messages(); |
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} |
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|
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void Copter::log_init(void) |
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{ |
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logger.Init(log_structure, ARRAY_SIZE(log_structure)); |
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} |
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|
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#else // LOGGING_ENABLED |
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|
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void Copter::Log_Write_Control_Tuning() {} |
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void Copter::Log_Write_Attitude(void) {} |
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void Copter::Log_Write_EKF_POS() {} |
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void Copter::Log_Write_Data(LogDataID id, int32_t value) {} |
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void Copter::Log_Write_Data(LogDataID id, uint32_t value) {} |
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void Copter::Log_Write_Data(LogDataID id, int16_t value) {} |
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void Copter::Log_Write_Data(LogDataID id, uint16_t value) {} |
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void Copter::Log_Write_Data(LogDataID id, float value) {} |
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void Copter::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max) {} |
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void Copter::Log_Write_Guided_Position_Target(ModeGuided::SubMode target_type, const Vector3f& pos_target, bool terrain_alt, const Vector3f& vel_target, const Vector3f& accel_target) {} |
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void Copter::Log_Write_Guided_Attitude_Target(ModeGuided::SubMode target_type, float roll, float pitch, float yaw, const Vector3f &ang_vel, float thrust, float climb_rate) {} |
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void Copter::Log_Write_SysID_Setup(uint8_t systemID_axis, float waveform_magnitude, float frequency_start, float frequency_stop, float time_fade_in, float time_const_freq, float time_record, float time_fade_out) {} |
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void Copter::Log_Write_SysID_Data(float waveform_time, float waveform_sample, float waveform_freq, float angle_x, float angle_y, float angle_z, float accel_x, float accel_y, float accel_z) {} |
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void Copter::Log_Write_Vehicle_Startup_Messages() {} |
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|
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#if FRAME_CONFIG == HELI_FRAME |
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void Copter::Log_Write_Heli() {} |
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#endif |
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|
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void Copter::log_init(void) {} |
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|
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#endif // LOGGING_ENABLED
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