Mark增加定位状态

ArduCopter/version.h

@@ -5,7 +5,7 @@
 #endif
 
 #include "ap_version.h"
-#define GIT_VERSION "1"
+#define GIT_VERSION "2"
 #define THISFIRMWARE "ZRUAV v4.1.18"  //"ArduCopter V4.0.0"
 
 // the following line is parsed by the autotest scripts

libraries/AP_GPS/AP_GPS_NMEA.cpp

@@ -332,7 +332,8 @@ bool AP_GPS_NMEA::_term_complete()
                                 gps_mark.second,
                                 llh,
                                 sigma,
-                                cam_pos_ned);
+                                cam_pos_ned,
+                                state.status);
                             // gcs().send_text(MAV_SEVERITY_INFO, "mrk:%d, %d, %d, %d", gps_mark.week, gps_mark.second, (int32_t)(gps_mark.lat * (int32_t)10000000UL), (int32_t)(gps_mark.lon * (int32_t)10000000UL));
                             // gcs().send_text(MAV_SEVERITY_INFO,"rot:%dus,%.3f,%.3f,%.3f",(uint16_t)(tk2 - tk1),cam_pos_ned.x,cam_pos_ned.y,cam_pos_ned.z);
                         }

libraries/AP_Logger/AP_Logger.h

@@ -288,7 +288,7 @@ public:
     void Write_OABendyRuler(bool active, float target_yaw, float margin, const Location &final_dest, const Location &oa_dest);
     void Write_OADijkstra(uint8_t state, uint8_t error_id, uint8_t curr_point, uint8_t tot_points, const Location &final_dest, const Location &oa_dest);
     void Write_Camera_Feedback(uint16_t index,uint16_t cam1,uint16_t cam2,uint16_t cam3,uint16_t cam4,uint16_t cam5,uint8_t flag);
-    void Write_RTK_Mark_Pos(uint16_t week, uint32_t second,const Vector3d& llh,const Vector3f& sigma,const Vector3f& offset);
+    void Write_RTK_Mark_Pos(uint16_t week, uint32_t second,const Vector3d& llh,const Vector3f& sigma,const Vector3f& offset,uint8_t fix_type);
 
     void Write(const char *name, const char *labels, const char *fmt, ...);
     void Write(const char *name, const char *labels, const char *units, const char *mults, const char *fmt, ...);

libraries/AP_Logger/LogFile.cpp

@@ -1029,7 +1029,7 @@ void AP_Logger::Write_Camera_Feedback(uint16_t index,uint16_t cam1,uint16_t cam2
       WriteBlock(&pkt, sizeof(pkt));
 }
 
-void AP_Logger::Write_RTK_Mark_Pos(uint16_t week, uint32_t second,const Vector3d& llh,const Vector3f& sigma,const Vector3f& offset)
+void AP_Logger::Write_RTK_Mark_Pos(uint16_t week, uint32_t second,const Vector3d& llh,const Vector3f& sigma,const Vector3f& offset,uint8_t fix_type)
 {
     const AP_AHRS &ahrs = AP::ahrs();
 
@@ -1050,7 +1050,8 @@ void AP_Logger::Write_RTK_Mark_Pos(uint16_t week, uint32_t second,const Vector3d
         hgt_sigma    :sigma.z ,
         n_offset    :offset.x ,
         e_offset    :offset.y ,
-        d_offset    :offset.z
+        d_offset    :offset.z ,
+        fix_type    :fix_type
     };
       WriteBlock(&pkt, sizeof(pkt)); 
 }

libraries/AP_Logger/LogStructure.h

@@ -1236,6 +1236,7 @@ struct  PACKED log_rtk_mark_pos
     float       n_offset;
     float       e_offset;
     float       d_offset;
+    uint8_t     fix_type;
 };
 
 
@@ -1438,7 +1439,7 @@ struct  PACKED log_rtk_mark_pos
     { LOG_CAM_FEEDBACK_MSG, sizeof(log_Camera_FeedBack), \
       "CAMF","QHHHHHHB","TimeUS,Index,CAM1,CAM2,CAM3,CAM4,CAM5,FLAG", "s-------", "F-------" },\
     { LOG_RTK_MARK_POS, sizeof(log_rtk_mark_pos), \
-      "MARK","QhhHHIdddffffff","TimeUS,R,P,Y,Wk,ms,Lat,Lon,Hgt,sx,sy,sz,Ns,Es,Ds", "sddh-----------", "F--------------" }
+      "MARK","QhhHHIdddffffffB","TimeUS,R,P,Y,Wk,ms,Lat,Lon,Hgt,sx,sy,sz,Ns,Es,Ds,Fix", "sddh------------", "F---------------" }
 // messages for more advanced boards
 #define LOG_EXTRA_STRUCTURES \
     { LOG_IMU2_MSG, sizeof(log_IMU), \