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OpenSource
Baitboat
Commits
c01a3deb
Commit
c01a3deb
authored
11 years ago
by
Randy Mackay
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Plane: log INS errors in PM message
parent
1359a8fe
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1 changed file
ArduPlane/Log.pde
+4
-4
4 additions, 4 deletions
ArduPlane/Log.pde
with
4 additions
and
4 deletions
ArduPlane/Log.pde
+
4
−
4
View file @
c01a3deb
...
...
@@ -192,11 +192,11 @@ struct PACKED log_Performance {
uint32_t
g_dt_max
;
uint8_t
renorm_count
;
uint8_t
renorm_blowup
;
uint8_t
gps_fix_count
;
int16_t
gyro_drift_x
;
int16_t
gyro_drift_y
;
int16_t
gyro_drift_z
;
uint8_t
i2c_lockup_count
;
uint16_t
ins_error_count
;
};
// Write a performance monitoring packet. Total length : 19 bytes
...
...
@@ -209,11 +209,11 @@ static void Log_Write_Performance()
g_dt_max
:
G_Dt_max
,
renorm_count
:
ahrs
.
renorm_range_count
,
renorm_blowup
:
ahrs
.
renorm_blowup_count
,
gps_fix_count
:
gps_fix_count
,
gyro_drift_x
:
(
int16_t
)(
ahrs
.
get_gyro_drift
().
x
*
1000
),
gyro_drift_y
:
(
int16_t
)(
ahrs
.
get_gyro_drift
().
y
*
1000
),
gyro_drift_z
:
(
int16_t
)(
ahrs
.
get_gyro_drift
().
z
*
1000
),
i2c_lockup_count:
hal
.
i2c
->
lockup_count
()
i2c_lockup_count:
hal
.
i2c
->
lockup_count
(),
ins_error_count
:
ins
.
error_count
()
};
DataFlash
.
WriteBlock
(
&
pkt
,
sizeof
(
pkt
));
}
...
...
@@ -455,7 +455,7 @@ static const struct LogStructure log_structure[] PROGMEM = {
{
LOG_ATTITUDE_MSG
,
sizeof
(
log_Attitude
),
"ATT"
,
"IccCCC"
,
"TimeMS,Roll,Pitch,Yaw,ErrorRP,ErrorYaw"
},
{
LOG_PERFORMANCE_MSG
,
sizeof
(
log_Performance
),
"PM"
,
"IHIBB
B
hhhB"
,
"LTime,MLC,gDt,RNCnt,RNBl,
GPScnt,
GDx,GDy,GDz,I2CErr"
},
"PM"
,
"IHIBBhhhB
H
"
,
"LTime,MLC,gDt,RNCnt,RNBl,GDx,GDy,GDz,I2CErr
,INSErr
"
},
{
LOG_CMD_MSG
,
sizeof
(
log_Cmd
),
"CMD"
,
"BBBBBeLL"
,
"CTot,CNum,CId,COpt,Prm1,Alt,Lat,Lng"
},
{
LOG_CAMERA_MSG
,
sizeof
(
log_Camera
),
...
...
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