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added parameter which defines threshold for airspeed given to the filter

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remove unnecessary replay fields
This commit is contained in:
CarlOlsson
2016-06-06 16:53:02 +02:00
committed by tumbili
parent 847cf684db
commit 9c170f7fae
6 changed files with 58 additions and 25 deletions
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src/modules/sdlog2/sdlog2.c
+2 -4
View File
@@ -1517,6 +1517,7 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_STAT.nav_state = buf_status.nav_state;
log_msg.body.log_STAT.arming_state = buf_status.arming_state;
log_msg.body.log_STAT.failsafe = (uint8_t) buf_status.failsafe;
log_msg.body.log_STAT.is_rot_wing = (uint8_t)buf_status.is_rotary_wing;
LOGBUFFER_WRITE_AND_COUNT(STAT);
}
@@ -1600,10 +1601,7 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.msg_type = LOG_RPL6_MSG;
log_msg.body.log_RPL6.time_airs_usec = buf.replay.asp_timestamp;
log_msg.body.log_RPL6.indicated_airspeed_m_s = buf.replay.indicated_airspeed_m_s;
log_msg.body.log_RPL6.true_airspeed_m_s = buf.replay.true_airspeed_m_s;
log_msg.body.log_RPL6.true_airspeed_unfiltered_m_s = buf.replay.true_airspeed_unfiltered_m_s;
log_msg.body.log_RPL6.air_temperature_celsius = buf.replay.air_temperature_celsius;
log_msg.body.log_RPL6.confidence = buf.replay.confidence;
log_msg.body.log_RPL6.true_airspeed_m_s = buf.replay.true_airspeed_m_s;;
LOGBUFFER_WRITE_AND_COUNT(RPL6);
}
src/modules/sdlog2/sdlog2_messages.h
+3 -5
View File
@@ -182,6 +182,7 @@ struct log_STAT_s {
uint8_t nav_state;
uint8_t arming_state;
uint8_t failsafe;
uint8_t is_rot_wing;
};
/* --- RC - RC INPUT CHANNELS --- */
@@ -600,9 +601,6 @@ struct log_RPL6_s {
uint64_t time_airs_usec;
float indicated_airspeed_m_s;
float true_airspeed_m_s;
float true_airspeed_unfiltered_m_s;
float air_temperature_celsius;
float confidence;
};
/* --- EKF2 REPLAY Part 5 --- */
@@ -668,7 +666,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT_S(DGPS, GPS, "QBffLLfffffBHHH", "GPSTime,Fix,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog,nSat,SNR,N,J"),
LOG_FORMAT_S(ATTC, ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
LOG_FORMAT_S(ATC1, ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
LOG_FORMAT(STAT, "BBBB", "MainState,NavState,ArmS,Failsafe"),
LOG_FORMAT(STAT, "BBBBB", "MainState,NavState,ArmS,Failsafe,IsRotWing"),
LOG_FORMAT(VTOL, "fBBB", "Arsp,RwMode,TransMode,Failsafe"),
LOG_FORMAT(CTS, "fffffff", "Vx_b,Vy_b,Vz_b,Vinf,P,Q,R"),
LOG_FORMAT(RC, "ffffffffffffBBBL", "C0,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,RSSI,CNT,Lost,Drop"),
@@ -712,7 +710,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(RPL3, "QffffIB", "Tflow,fx,fy,gx,gy,delT,qual"),
LOG_FORMAT(RPL4, "Qf", "Trng,rng"),
LOG_FORMAT(RPL5, "Qfffffffff", "Tev,x,y,z,q0,q1,q2,q3,posErr,angErr"),
LOG_FORMAT(RPL6, "Qfffff", "Tasp,inAsp,trAsp,ufAsp,tpAsp,confAsp"),
LOG_FORMAT(RPL6, "Qff", "Tasp,inAsp,trAsp"),
LOG_FORMAT(LAND, "B", "Landed"),
LOG_FORMAT(LOAD, "f", "CPU"),
/* system-level messages, ID >= 0x80 */