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Plane: add xtrack_error to DF log

master
Tom Pittenger 9 years ago committed by Andrew Tridgell
parent
6a67ad706c
commit
6cb20b679d
1 changed files with 5 additions and 3 deletions
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  1. 8
      ArduPlane/Log.cpp

8
ArduPlane/Log.cpp
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@ -280,9 +280,10 @@ struct PACKED log_Nav_Tuning {
int16_t airspeed_cm; int16_t airspeed_cm;
float altitude; float altitude;
uint32_t groundspeed_cm; uint32_t groundspeed_cm;
float xtrack_error;
}; };
// Write a navigation tuning packe // Write a navigation tuning packet
void Plane::Log_Write_Nav_Tuning() void Plane::Log_Write_Nav_Tuning()
{ {
struct log_Nav_Tuning pkt = { struct log_Nav_Tuning pkt = {
@ -295,7 +296,8 @@ void Plane::Log_Write_Nav_Tuning()
altitude_error_cm : (int16_t)altitude_error_cm, altitude_error_cm : (int16_t)altitude_error_cm,
airspeed_cm : (int16_t)airspeed.get_airspeed_cm(), airspeed_cm : (int16_t)airspeed.get_airspeed_cm(),
altitude : barometer.get_altitude(), altitude : barometer.get_altitude(),
groundspeed_cm : (uint32_t)(gps.ground_speed()*100) groundspeed_cm : (uint32_t)(gps.ground_speed()*100),
xtrack_error : nav_controller->crosstrack_error()
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); DataFlash.WriteBlock(&pkt, sizeof(pkt));
} }
@ -483,7 +485,7 @@ static const struct LogStructure log_structure[] = {
{ LOG_CTUN_MSG, sizeof(log_Control_Tuning), { LOG_CTUN_MSG, sizeof(log_Control_Tuning),
"CTUN", "Qcccchhf", "TimeUS,NavRoll,Roll,NavPitch,Pitch,ThrOut,RdrOut,AccY" }, "CTUN", "Qcccchhf", "TimeUS,NavRoll,Roll,NavPitch,Pitch,ThrOut,RdrOut,AccY" },
{ LOG_NTUN_MSG, sizeof(log_Nav_Tuning), { LOG_NTUN_MSG, sizeof(log_Nav_Tuning),
"NTUN", "QCfccccfI", "TimeUS,Yaw,WpDist,TargBrg,NavBrg,AltErr,Arspd,Alt,GSpdCM" }, "NTUN", "QCfccccfIf", "TimeUS,Yaw,WpDist,TargBrg,NavBrg,AltErr,Arspd,Alt,GSpdCM,XT" },
{ LOG_SONAR_MSG, sizeof(log_Sonar), { LOG_SONAR_MSG, sizeof(log_Sonar),
"SONR", "QHfffBBf", "TimeUS,DistCM,Volt,BaroAlt,GSpd,Thr,Cnt,Corr" }, "SONR", "QHfffBBf", "TimeUS,DistCM,Volt,BaroAlt,GSpd,Thr,Cnt,Corr" },
{ LOG_ARM_DISARM_MSG, sizeof(log_Arm_Disarm), { LOG_ARM_DISARM_MSG, sizeof(log_Arm_Disarm),

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