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re-org'ed the logs 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2231 f9c3cf11-9bcb-44bc-f272-b75c42450872
master
jasonshort 14 years ago
parent
be3647a234
commit
7d38020d5f
3 changed files with 56 additions and 57 deletions
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  1. 2
      ArduCopterMega/APM_Config.h
  2. 6
      ArduCopterMega/ArduCopterMega.pde
  3. 105
      ArduCopterMega/Log.pde

2
ArduCopterMega/APM_Config.h
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@ -33,7 +33,7 @@ @@ -33,7 +33,7 @@
# define LOG_ATTITUDE_FAST DISABLED
# define LOG_ATTITUDE_MED DISABLED
# define LOG_GPS ENABLED
# define LOG_PM DISABLED
# define LOG_PM ENABLED
# define LOG_CTUN ENABLED
# define LOG_NTUN ENABLED
# define LOG_MODE ENABLED

6
ArduCopterMega/ArduCopterMega.pde
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@ -493,7 +493,9 @@ void loop() @@ -493,7 +493,9 @@ void loop()
if (millis() - perf_mon_timer > 20000) {
if (mainLoop_count != 0) {
gcs.send_message(MSG_PERF_REPORT);
if (g.log_bitmask & MASK_LOG_PM)
Log_Write_Performance();
@ -632,7 +634,7 @@ void medium_loop() @@ -632,7 +634,7 @@ void medium_loop()
medium_loopCounter++;
if (g.log_bitmask & MASK_LOG_ATTITUDE_MED && !(g.log_bitmask & MASK_LOG_ATTITUDE_FAST))
Log_Write_Attitude((int)dcm.roll_sensor, (int)dcm.pitch_sensor, (uint16_t)dcm.yaw_sensor);
Log_Write_Attitude();
#if HIL_MODE != HIL_MODE_ATTITUDE
if (g.log_bitmask & MASK_LOG_CTUN)
@ -697,7 +699,7 @@ void medium_loop() @@ -697,7 +699,7 @@ void medium_loop()
//calc_distance_error();
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST)
Log_Write_Attitude((int)dcm.roll_sensor, (int)dcm.pitch_sensor, (uint16_t)dcm.yaw_sensor);
Log_Write_Attitude();
#if HIL_MODE != HIL_MODE_ATTITUDE
if (g.log_bitmask & MASK_LOG_RAW)

105
ArduCopterMega/Log.pde
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@ -320,35 +320,6 @@ int find_last_log_page(int bottom_page) @@ -320,35 +320,6 @@ int find_last_log_page(int bottom_page)
}
// Write an attitude packet. Total length : 10 bytes
void Log_Write_Attitude(int log_roll, int log_pitch, uint16_t log_yaw)
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_ATTITUDE_MSG);
DataFlash.WriteInt(log_roll);
DataFlash.WriteInt(log_pitch);
DataFlash.WriteInt(log_yaw);
DataFlash.WriteByte(END_BYTE);
}
// Write a performance monitoring packet. Total length : 19 bytes
void Log_Write_Performance()
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_PERFORMANCE_MSG);
DataFlash.WriteLong(millis()- perf_mon_timer);
DataFlash.WriteInt(mainLoop_count);
DataFlash.WriteInt(G_Dt_max);
DataFlash.WriteByte(dcm.gyro_sat_count);
DataFlash.WriteByte(imu.adc_constraints);
DataFlash.WriteByte(dcm.renorm_sqrt_count);
DataFlash.WriteByte(dcm.renorm_blowup_count);
DataFlash.WriteByte(gps_fix_count);
DataFlash.WriteInt((int)(dcm.get_health() * 1000));
DataFlash.WriteByte(END_BYTE);
}
// Write a command processing packet. Total length : 19 bytes
//void Log_Write_Cmd(byte num, byte id, byte p1, long alt, long lat, long lng)
@ -384,7 +355,6 @@ void Log_Write_Nav_Tuning() @@ -384,7 +355,6 @@ void Log_Write_Nav_Tuning()
DataFlash.WriteInt((int)sonar_alt); // 8
DataFlash.WriteInt((int)baro_alt); // 9
DataFlash.WriteInt((int)home.alt); // 10
DataFlash.WriteInt((int)next_WP.alt); // 11
DataFlash.WriteInt((int)altitude_error); // 12
@ -402,6 +372,7 @@ void Log_Read_Nav_Tuning() @@ -402,6 +372,7 @@ void Log_Read_Nav_Tuning()
DataFlash.ReadInt(), //yaw sensor
DataFlash.ReadInt(), //distance
DataFlash.ReadByte(), //bitmask
DataFlash.ReadInt(), //target bearing
DataFlash.ReadInt(), //nav bearing
@ -536,17 +507,15 @@ void Log_Write_Control_Tuning() @@ -536,17 +507,15 @@ void Log_Write_Control_Tuning()
DataFlash.WriteInt((int)(g.rc_4.servo_out));
// yaw
DataFlash.WriteByte(yaw_debug);
DataFlash.WriteInt((int)yaw_error);
DataFlash.WriteInt((int)(dcm.yaw_sensor/100));
// Yaw mode
DataFlash.WriteByte(yaw_debug);
// Gyro Rates
DataFlash.WriteInt((int)(omega.x * 1000));
DataFlash.WriteInt((int)(omega.y * 1000));
DataFlash.WriteInt((int)(omega.z * 1000));
// Pitch/roll
DataFlash.WriteInt((int)(dcm.pitch_sensor/100));
DataFlash.WriteInt((int)(dcm.roll_sensor/100));
DataFlash.WriteInt((int)g.throttle_cruise);
DataFlash.WriteInt((int)g.pid_baro_throttle.get_integrator());
DataFlash.WriteInt((int)g.pid_sonar_throttle.get_integrator());
@ -563,7 +532,11 @@ void Log_Write_Control_Tuning() @@ -563,7 +532,11 @@ void Log_Write_Control_Tuning()
// Read an control tuning packet
void Log_Read_Control_Tuning()
{
Serial.printf_P(PSTR("CTUN, %d, %d, %d, %d, %d, %d, %d, %1.4f, %1.4f, %1.4f, %d, %d, %d\n"),
Serial.printf_P(PSTR( "CTUN, %d, %d, %d, %d, "
"%d, %d, %d, %1.4f, "
"%d, %d, "
"%d, %d, %d\n"),
// Control
DataFlash.ReadInt(),
DataFlash.ReadInt(),
@ -571,29 +544,40 @@ void Log_Read_Control_Tuning() @@ -571,29 +544,40 @@ void Log_Read_Control_Tuning()
DataFlash.ReadInt(),
// yaw
(int)DataFlash.ReadByte(),
DataFlash.ReadInt(),
DataFlash.ReadInt(),
(float)DataFlash.ReadInt() / 1000.0,// Gyro Rate
// Yaw Mode
(int)DataFlash.ReadByte(),
// Gyro Rates
(float)DataFlash.ReadInt() / 1000.0,
(float)DataFlash.ReadInt() / 1000.0,
(float)DataFlash.ReadInt() / 1000.0,
// Position
//DataFlash.ReadInt(),
//DataFlash.ReadInt(),
//(long)DataFlash.ReadInt() * 10);
// Pitch/roll
DataFlash.ReadInt(),
DataFlash.ReadInt(),
// Alt Hold
DataFlash.ReadInt(),
DataFlash.ReadInt(),
DataFlash.ReadInt());
}
// Write a performance monitoring packet. Total length : 19 bytes
void Log_Write_Performance()
{
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_PERFORMANCE_MSG);
DataFlash.WriteLong( millis()- perf_mon_timer);
DataFlash.WriteInt( mainLoop_count);
DataFlash.WriteInt( G_Dt_max);
DataFlash.WriteByte( dcm.gyro_sat_count);
DataFlash.WriteByte( imu.adc_constraints);
DataFlash.WriteByte( dcm.renorm_sqrt_count);
DataFlash.WriteByte( dcm.renorm_blowup_count);
DataFlash.WriteByte( gps_fix_count);
DataFlash.WriteInt( (int)(dcm.get_health() * 1000));
DataFlash.WriteByte(END_BYTE);
}
// Read a performance packet
void Log_Read_Performance()
@ -601,7 +585,7 @@ void Log_Read_Performance() @@ -601,7 +585,7 @@ void Log_Read_Performance()
long pm_time;
int logvar;
Serial.printf_P(PSTR("PM:"));
Serial.printf_P(PSTR("PM,"));
pm_time = DataFlash.ReadLong();
Serial.print(pm_time);
Serial.print(comma);
@ -637,10 +621,23 @@ void Log_Read_Cmd() @@ -637,10 +621,23 @@ void Log_Read_Cmd()
Serial.println(" ");
}
// Write an attitude packet. Total length : 10 bytes
void Log_Write_Attitude()
{
, (int)dcm.pitch_sensor, (uint16_t)dcm.yaw_sensor
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_ATTITUDE_MSG);
DataFlash.WriteInt((int)dcm.roll_sensor);
DataFlash.WriteInt((int)dcm.pitch_sensor);
DataFlash.WriteInt((uint16_t)dcm.yaw_sensor);
DataFlash.WriteByte(END_BYTE);
}
// Read an attitude packet
void Log_Read_Attitude()
{
Serial.printf_P(PSTR("ATT: %d, %d, %u\n"),
Serial.printf_P(PSTR("ATT, %d, %d, %u\n"),
DataFlash.ReadInt(),
DataFlash.ReadInt(),
(uint16_t)DataFlash.ReadInt());
@ -657,7 +654,7 @@ void Log_Read_Mode() @@ -657,7 +654,7 @@ void Log_Read_Mode()
void Log_Read_Raw()
{
float logvar;
Serial.printf_P(PSTR("RAW:"));
Serial.printf_P(PSTR("RAW,"));
for (int y = 0; y < 6; y++) {
logvar = (float)DataFlash.ReadLong() / t7;
Serial.print(logvar);

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