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sdlog2: Add replay logging of flow and range finder messages for ekf2

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Paul Riseborough 2016-03-09 17:33:06 +11:00 committed by Lorenz Meier
parent b1f656c4b8
commit 80927d79fe
2 changed files with 26 additions and 0 deletions
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12
src/modules/sdlog2/sdlog2.c
View File

@ -1201,6 +1201,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_RPL1_s log_RPL1;
struct log_RPL2_s log_RPL2;
struct log_EST6_s log_INO3;
struct log_RPL3_s log_RPL3;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@ -1479,6 +1480,17 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_RPL2.vel_d_m_s = buf.replay.vel_d_m_s;
log_msg.body.log_RPL2.vel_ned_valid = buf.replay.vel_ned_valid;
LOGBUFFER_WRITE_AND_COUNT(RPL2);
log_msg.msg_type = LOG_RPL3_MSG;
log_msg.body.log_RPL3.time_rng_usec = buf.replay.rng_timestamp;
log_msg.body.log_RPL3.time_flow_usec = buf.replay.flow_timestamp;
log_msg.body.log_RPL3.range_to_ground = buf.replay.range_to_ground;
log_msg.body.log_RPL3.flow_integral_x = buf.replay.flow_pixel_integral[0];
log_msg.body.log_RPL3.flow_integral_y = buf.replay.flow_pixel_integral[1];
log_msg.body.log_RPL3.gyro_integral_x = buf.replay.flow_gyro_integral[0];
log_msg.body.log_RPL3.gyro_integral_y = buf.replay.flow_gyro_integral[1];
log_msg.body.log_RPL3.flow_time_integral = buf.replay.flow_time_integral;
log_msg.body.log_RPL3.flow_quality = buf.replay.flow_quality;
LOGBUFFER_WRITE_AND_COUNT(RPL3);
}
/* --- ATTITUDE --- */

14
src/modules/sdlog2/sdlog2_messages.h
View File

@ -553,6 +553,19 @@ struct log_RPL2_s {
float vel_d_m_s;
bool vel_ned_valid;
};
/* --- EKF2 REPLAY Part 3 --- */
#define LOG_RPL3_MSG 54
struct log_RPL3_s {
uint64_t time_rng_usec;
uint64_t time_flow_usec;
float range_to_ground;
float flow_integral_x;
float flow_integral_y;
float gyro_integral_x;
float gyro_integral_y;
uint32_t flow_time_integral;
uint8_t flow_quality;
};
/* --- CAMERA TRIGGER --- */
#define LOG_CAMT_MSG 55
@ -643,6 +656,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(CAMT, "QI", "timestamp,seq"),
LOG_FORMAT(RPL1, "QQQQQffffffffff", "t,gIdt,aIdt,Tm,Tb,gIx,gIy,gIz,aIx,aIy,aIz,magX,magY,magZ,b_alt"),
LOG_FORMAT(RPL2, "QQLLLMffffffM", "Tpos,Tvel,lat,lon,alt,fix_type,eph,epv,v,vN,vE,vD,v_val"),
LOG_FORMAT(RPL3, "QQfffffIB", "Trng,Tflow,rng,fx,fy,gx,gy,delT,qual"),
/* system-level messages, ID >= 0x80 */
/* FMT: don't write format of format message, it's useless */
LOG_FORMAT(TIME, "Q", "StartTime"),