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115 lines
3.5 KiB
115 lines
3.5 KiB
#include "Tracker.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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// Write an attitude packet |
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void Tracker::Log_Write_Attitude() |
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{ |
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Vector3f targets; |
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targets.y = nav_status.pitch * 100.0f; |
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targets.z = wrap_360_cd(nav_status.bearing * 100.0f); |
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ahrs.Write_Attitude(targets); |
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AP::ahrs().Log_Write(); |
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ahrs.Write_AHRS2(); |
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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sitl.Log_Write_SIMSTATE(); |
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#endif |
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ahrs.Write_POS(); |
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} |
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struct PACKED log_Vehicle_Baro { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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float press; |
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float alt_diff; |
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}; |
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// Write a vehicle baro packet |
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void Tracker::Log_Write_Vehicle_Baro(float pressure, float altitude) |
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{ |
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struct log_Vehicle_Baro pkt = { |
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LOG_PACKET_HEADER_INIT(LOG_V_BAR_MSG), |
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time_us : AP_HAL::micros64(), |
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press : pressure, |
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alt_diff : altitude |
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}; |
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logger.WriteBlock(&pkt, sizeof(pkt)); |
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} |
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struct PACKED log_Vehicle_Pos { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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int32_t vehicle_lat; |
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int32_t vehicle_lng; |
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int32_t vehicle_alt; |
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float vehicle_vel_x; |
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float vehicle_vel_y; |
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float vehicle_vel_z; |
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}; |
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// Write a vehicle pos packet |
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void Tracker::Log_Write_Vehicle_Pos(int32_t lat, int32_t lng, int32_t alt, const Vector3f& vel) |
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{ |
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struct log_Vehicle_Pos pkt = { |
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LOG_PACKET_HEADER_INIT(LOG_V_POS_MSG), |
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time_us : AP_HAL::micros64(), |
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vehicle_lat : lat, |
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vehicle_lng : lng, |
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vehicle_alt : alt, |
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vehicle_vel_x : vel.x, |
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vehicle_vel_y : vel.y, |
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vehicle_vel_z : vel.z, |
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}; |
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logger.WriteBlock(&pkt, sizeof(pkt)); |
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} |
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// @LoggerMessage: VBAR |
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// @Description: Information received from tracked vehicle; barometer data |
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// @Field: TimeUS: Time since system startup |
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// @Field: Press: vehicle barometric pressure |
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// @Field: AltDiff: altitude difference based on difference on barometric pressure |
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// @LoggerMessage: VPOS |
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// @Description: Information received from tracked vehicle; barometer position data |
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// @Field: TimeUS: Time since system startup |
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// @Field: Lat: tracked vehicle latitude |
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// @Field: Lng: tracked vehicle longitude |
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// @Field: Alt: tracked vehicle altitude |
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// @Field: VelX: tracked vehicle velocity, latitude component |
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// @Field: VelY: tracked vehicle velocity, longitude component |
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// @Field: VelZ: tracked vehicle velocity, vertical component, down |
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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 Tracker::log_structure[] = { |
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LOG_COMMON_STRUCTURES, |
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{LOG_V_BAR_MSG, sizeof(log_Vehicle_Baro), |
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"VBAR", "Qff", "TimeUS,Press,AltDiff", "sPm", "F00" , true }, |
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{LOG_V_POS_MSG, sizeof(log_Vehicle_Pos), |
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"VPOS", "QLLefff", "TimeUS,Lat,Lng,Alt,VelX,VelY,VelZ", "sddmnnn", "FGGB000", true } |
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}; |
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void Tracker::Log_Write_Vehicle_Startup_Messages() |
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{ |
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logger.Write_Mode((uint8_t)mode->number(), ModeReason::INITIALISED); |
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gps.Write_AP_Logger_Log_Startup_messages(); |
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} |
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void Tracker::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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#else // LOGGING_ENABLED |
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void Tracker::Log_Write_Attitude(void) {} |
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void Tracker::log_init(void) {} |
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void Tracker::Log_Write_Vehicle_Pos(int32_t lat, int32_t lng, int32_t alt, const Vector3f& vel) {} |
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void Tracker::Log_Write_Vehicle_Baro(float pressure, float altitude) {} |
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void Tracker::Log_Write_Vehicle_Startup_Messages() {} |
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#endif // LOGGING_ENABLED
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