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Rover: Changed logging of wp_bearing and nav_bearing to degrees

c415-sdk
Rishabh 5 years ago committed by Randy Mackay
parent
2f036c65f3
commit
0d5f5117cc
1 changed files with 5 additions and 5 deletions
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  1. 10
      APMrover2/Log.cpp

10
APMrover2/Log.cpp
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@ -99,8 +99,8 @@ struct PACKED log_Nav_Tuning {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint64_t time_us; uint64_t time_us;
float wp_distance; float wp_distance;
uint16_t wp_bearing_cd; float wp_bearing;
uint16_t nav_bearing_cd; float nav_bearing;
uint16_t yaw; uint16_t yaw;
float xtrack_error; float xtrack_error;
}; };
@ -112,8 +112,8 @@ void Rover::Log_Write_Nav_Tuning()
LOG_PACKET_HEADER_INIT(LOG_NTUN_MSG), LOG_PACKET_HEADER_INIT(LOG_NTUN_MSG),
time_us : AP_HAL::micros64(), time_us : AP_HAL::micros64(),
wp_distance : control_mode->get_distance_to_destination(), wp_distance : control_mode->get_distance_to_destination(),
wp_bearing_cd : (uint16_t)wrap_360_cd(control_mode->wp_bearing() * 100), wp_bearing : control_mode->wp_bearing(),
nav_bearing_cd : (uint16_t)wrap_360_cd(control_mode->nav_bearing() * 100), nav_bearing : control_mode->nav_bearing(),
yaw : (uint16_t)ahrs.yaw_sensor, yaw : (uint16_t)ahrs.yaw_sensor,
xtrack_error : control_mode->crosstrack_error() xtrack_error : control_mode->crosstrack_error()
}; };
@ -253,7 +253,7 @@ const LogStructure Rover::log_structure[] = {
{ LOG_THR_MSG, sizeof(log_Throttle), { LOG_THR_MSG, sizeof(log_Throttle),
"THR", "Qhffff", "TimeUS,ThrIn,ThrOut,DesSpeed,Speed,AccY", "s--nno", "F--000" }, "THR", "Qhffff", "TimeUS,ThrIn,ThrOut,DesSpeed,Speed,AccY", "s--nno", "F--000" },
{ LOG_NTUN_MSG, sizeof(log_Nav_Tuning), { LOG_NTUN_MSG, sizeof(log_Nav_Tuning),
"NTUN", "QfHHHf", "TimeUS,WpDist,WpBrg,DesYaw,Yaw,XTrack", "smdddm", "F0BBB0" }, "NTUN", "QfffHf", "TimeUS,WpDist,WpBrg,DesYaw,Yaw,XTrack", "smhhdm", "F000B0" },
{ LOG_STEERING_MSG, sizeof(log_Steering), { LOG_STEERING_MSG, sizeof(log_Steering),
"STER", "Qhfffff", "TimeUS,SteerIn,SteerOut,DesLatAcc,LatAcc,DesTurnRate,TurnRate", "s--ookk", "F--0000" }, "STER", "Qhfffff", "TimeUS,SteerIn,SteerOut,DesLatAcc,LatAcc,DesTurnRate,TurnRate", "s--ookk", "F--0000" },
{ LOG_GUIDEDTARGET_MSG, sizeof(log_GuidedTarget), { LOG_GUIDEDTARGET_MSG, sizeof(log_GuidedTarget),

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