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#include "Sub.h"
#if LOGGING_ENABLED == ENABLED
// Code to Write and Read packets from DataFlash log memory
// Code to interact with the user to dump or erase logs
struct PACKED log_Control_Tuning {
LOG_PACKET_HEADER;
uint64_t time_us;
float throttle_in;
float angle_boost;
float throttle_out;
float throttle_hover;
float desired_alt;
float inav_alt;
float baro_alt;
int16_t desired_rangefinder_alt;
int16_t rangefinder_alt;
float terr_alt;
int16_t target_climb_rate;
int16_t climb_rate;
};
// Write a control tuning packet
void Sub::Log_Write_Control_Tuning()
{
// get terrain altitude
float terr_alt = 0.0f;
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
terrain.height_above_terrain(terr_alt, true);
#endif
struct log_Control_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_CONTROL_TUNING_MSG),
time_us : AP_HAL::micros64(),
throttle_in : attitude_control.get_throttle_in(),
angle_boost : attitude_control.angle_boost(),
throttle_out : motors.get_throttle(),
throttle_hover : motors.get_throttle_hover(),
desired_alt : pos_control.get_alt_target() / 100.0f,
inav_alt : inertial_nav.get_altitude() / 100.0f,
baro_alt : barometer.get_altitude(),
desired_rangefinder_alt : (int16_t)target_rangefinder_alt,
rangefinder_alt : rangefinder_state.alt_cm,
terr_alt : terr_alt,
target_climb_rate : (int16_t)pos_control.get_vel_target_z(),
climb_rate : climb_rate
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Write an attitude packet
void Sub::Log_Write_Attitude()
{
Vector3f targets = attitude_control.get_att_target_euler_cd();
targets.z = wrap_360_cd(targets.z);
DataFlash.Log_Write_Attitude(ahrs, targets);
DataFlash.Log_Write_EKF(ahrs);
DataFlash.Log_Write_AHRS2(ahrs);
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
sitl.Log_Write_SIMSTATE(&DataFlash);
#endif
DataFlash.Log_Write_POS(ahrs);
}
struct PACKED log_MotBatt {
LOG_PACKET_HEADER;
uint64_t time_us;
float lift_max;
float bat_volt;
float bat_res;
float th_limit;
};
// Write an rate packet
void Sub::Log_Write_MotBatt()
{
struct log_MotBatt pkt_mot = {
LOG_PACKET_HEADER_INIT(LOG_MOTBATT_MSG),
time_us : AP_HAL::micros64(),
lift_max : (float)(motors.get_lift_max()),
bat_volt : (float)(motors.get_batt_voltage_filt()),
bat_res : (float)(battery.get_resistance()),
th_limit : (float)(motors.get_throttle_limit())
};
DataFlash.WriteBlock(&pkt_mot, sizeof(pkt_mot));
}
struct PACKED log_Event {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t id;
};
// Wrote an event packet
void Sub::Log_Write_Event(uint8_t id)
{
if (should_log(MASK_LOG_ANY)) {
struct log_Event pkt = {
LOG_PACKET_HEADER_INIT(LOG_EVENT_MSG),
time_us : AP_HAL::micros64(),
id : id
};
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
}
}
struct PACKED log_Data_Int16t {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t id;
int16_t data_value;
};
// Write an int16_t data packet
UNUSED_FUNCTION
void Sub::Log_Write_Data(uint8_t id, int16_t value)
{
if (should_log(MASK_LOG_ANY)) {
struct log_Data_Int16t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_INT16_MSG),
time_us : AP_HAL::micros64(),
id : id,
data_value : value
};
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
}
}
struct PACKED log_Data_UInt16t {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t id;
uint16_t data_value;
};
// Write an uint16_t data packet
UNUSED_FUNCTION
void Sub::Log_Write_Data(uint8_t id, uint16_t value)
{
if (should_log(MASK_LOG_ANY)) {
struct log_Data_UInt16t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_UINT16_MSG),
time_us : AP_HAL::micros64(),
id : id,
data_value : value
};
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
}
}
struct PACKED log_Data_Int32t {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t id;
int32_t data_value;
};
// Write an int32_t data packet
void Sub::Log_Write_Data(uint8_t id, int32_t value)
{
if (should_log(MASK_LOG_ANY)) {
struct log_Data_Int32t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_INT32_MSG),
time_us : AP_HAL::micros64(),
id : id,
data_value : value
};
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
}
}
struct PACKED log_Data_UInt32t {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t id;
uint32_t data_value;
};
// Write a uint32_t data packet
void Sub::Log_Write_Data(uint8_t id, uint32_t value)
{
if (should_log(MASK_LOG_ANY)) {
struct log_Data_UInt32t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_UINT32_MSG),
time_us : AP_HAL::micros64(),
id : id,
data_value : value
};
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
}
}
struct PACKED log_Data_Float {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t id;
float data_value;
};
// Write a float data packet
UNUSED_FUNCTION
void Sub::Log_Write_Data(uint8_t id, float value)
{
if (should_log(MASK_LOG_ANY)) {
struct log_Data_Float pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_FLOAT_MSG),
time_us : AP_HAL::micros64(),
id : id,
data_value : value
};
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
}
}
struct PACKED log_Error {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t sub_system;
uint8_t error_code;
};
// Write an error packet
void Sub::Log_Write_Error(uint8_t sub_system, uint8_t error_code)
{
struct log_Error pkt = {
LOG_PACKET_HEADER_INIT(LOG_ERROR_MSG),
time_us : AP_HAL::micros64(),
sub_system : sub_system,
error_code : error_code,
};
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
}
// logs when baro or compass becomes unhealthy
void Sub::Log_Sensor_Health()
{
// check baro
if (sensor_health.baro != barometer.healthy()) {
sensor_health.baro = barometer.healthy();
Log_Write_Error(ERROR_SUBSYSTEM_BARO, (sensor_health.baro ? ERROR_CODE_ERROR_RESOLVED : ERROR_CODE_UNHEALTHY));
}
// check compass
if (sensor_health.compass != compass.healthy()) {
sensor_health.compass = compass.healthy();
Log_Write_Error(ERROR_SUBSYSTEM_COMPASS, (sensor_health.compass ? ERROR_CODE_ERROR_RESOLVED : ERROR_CODE_UNHEALTHY));
}
}
struct PACKED log_GuidedTarget {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t type;
float pos_target_x;
float pos_target_y;
float pos_target_z;
float vel_target_x;
float vel_target_y;
float vel_target_z;
};
// Write a Guided mode target
void Sub::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target)
{
struct log_GuidedTarget pkt = {
LOG_PACKET_HEADER_INIT(LOG_GUIDEDTARGET_MSG),
time_us : AP_HAL::micros64(),
type : target_type,
pos_target_x : pos_target.x,
pos_target_y : pos_target.y,
pos_target_z : pos_target.z,
vel_target_x : vel_target.x,
vel_target_y : vel_target.y,
vel_target_z : vel_target.z
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// type and unit information can be found in
// libraries/DataFlash/Logstructure.h; search for "log_Units" for
// units and "Format characters" for field type information
const struct LogStructure Sub::log_structure[] = {
LOG_COMMON_STRUCTURES,
{ LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning),
"CTUN", "Qfffffffccfhh", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DSAlt,SAlt,TAlt,DCRt,CRt", "s----mmmmmmnn", "F----00BBBBBB" },
{ LOG_MOTBATT_MSG, sizeof(log_MotBatt),
"MOTB", "Qffff", "TimeUS,LiftMax,BatVolt,BatRes,ThLimit", "s-vw-", "F-00-" },
{ LOG_EVENT_MSG, sizeof(log_Event),
"EV", "QB", "TimeUS,Id", "s-", "F-" },
{ LOG_DATA_INT16_MSG, sizeof(log_Data_Int16t),
"D16", "QBh", "TimeUS,Id,Value", "s--", "F--" },
{ LOG_DATA_UINT16_MSG, sizeof(log_Data_UInt16t),
"DU16", "QBH", "TimeUS,Id,Value", "s--", "F--" },
{ LOG_DATA_INT32_MSG, sizeof(log_Data_Int32t),
"D32", "QBi", "TimeUS,Id,Value", "s--", "F--" },
{ LOG_DATA_UINT32_MSG, sizeof(log_Data_UInt32t),
"DU32", "QBI", "TimeUS,Id,Value", "s--", "F--" },
{ LOG_DATA_FLOAT_MSG, sizeof(log_Data_Float),
"DFLT", "QBf", "TimeUS,Id,Value", "s--", "F--" },
{ LOG_ERROR_MSG, sizeof(log_Error),
"ERR", "QBB", "TimeUS,Subsys,ECode", "s--", "F--" },
{ LOG_GUIDEDTARGET_MSG, sizeof(log_GuidedTarget),
"GUID", "QBffffff", "TimeUS,Type,pX,pY,pZ,vX,vY,vZ", "s-mmmnnn", "F-000000" },
};
void Sub::Log_Write_Vehicle_Startup_Messages()
{
// only 200(?) bytes are guaranteed by DataFlash
DataFlash.Log_Write_Mode(control_mode, control_mode_reason);
ahrs.Log_Write_Home_And_Origin();
gps.Write_DataFlash_Log_Startup_messages();
}
void Sub::log_init()
{
DataFlash.Init(log_structure, ARRAY_SIZE(log_structure));
}
#else // LOGGING_ENABLED
void Sub::Log_Write_Control_Tuning() {}
void Sub::Log_Write_Performance() {}
void Sub::Log_Write_Attitude(void) {}
void Sub::Log_Write_MotBatt() {}
void Sub::Log_Write_Event(uint8_t id) {}
void Sub::Log_Write_Data(uint8_t id, int32_t value) {}
void Sub::Log_Write_Data(uint8_t id, uint32_t value) {}
void Sub::Log_Write_Data(uint8_t id, int16_t value) {}
void Sub::Log_Write_Data(uint8_t id, uint16_t value) {}
void Sub::Log_Write_Data(uint8_t id, float value) {}
void Sub::Log_Write_Error(uint8_t sub_system, uint8_t error_code) {}
void Sub::Log_Sensor_Health() {}
void Sub::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
void Sub::Log_Write_Vehicle_Startup_Messages() {}
void Sub::log_init(void) {}
#endif // LOGGING_ENABLED