C++ (Cpp) Log_Write_Data Examples

Example #1

File: ArduSub.cpp Project: LanderU/ardupilot

// one_hz_loop - runs at 1Hz
void Sub::one_hz_loop()
{
    bool arm_check = arming.pre_arm_checks(false);
    ap.pre_arm_check = arm_check;
    AP_Notify::flags.pre_arm_check = arm_check;
    AP_Notify::flags.pre_arm_gps_check = position_ok();

    if (should_log(MASK_LOG_ANY)) {
        Log_Write_Data(DATA_AP_STATE, ap.value);
    }

    if (!motors.armed()) {
        // make it possible to change ahrs orientation at runtime during initial config
        ahrs.set_orientation();

        // set all throttle channel settings
        motors.set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
    }

    // update assigned functions and enable auxiliary servos
    SRV_Channels::enable_aux_servos();

    // update position controller alt limits
    update_poscon_alt_max();

    // log terrain data
    terrain_logging();
}

Example #2

File: ArduSub.cpp Project: RaiBearG/ardupilot

// one_hz_loop - runs at 1Hz
void Sub::one_hz_loop()
{
    if (should_log(MASK_LOG_ANY)) {
        Log_Write_Data(DATA_AP_STATE, ap.value);
    }

    update_arming_checks();

    if (!motors.armed()) {
        // make it possible to change ahrs orientation at runtime during initial config
        ahrs.set_orientation();

        update_using_interlock();

        // set all throttle channel settings
        motors.set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
    }

    // update assigned functions and enable auxiliary servos
    SRV_Channels::enable_aux_servos();

    check_usb_mux();

    // update position controller alt limits
    update_poscon_alt_max();

    // enable/disable raw gyro/accel logging
    ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));

    // log terrain data
    terrain_logging();
}

Example #3

File: ArduCopter.cpp Project: spritezhu/THUF35

// one_hz_loop - runs at 1Hz
void Copter::one_hz_loop()
{
    if (should_log(MASK_LOG_ANY)) {
        Log_Write_Data(DATA_AP_STATE, ap.value);
    }

    // perform pre-arm checks & display failures every 30 seconds
    static uint8_t pre_arm_display_counter = 15;
    pre_arm_display_counter++;
    if (pre_arm_display_counter >= 30) {
        pre_arm_checks(true);
        pre_arm_display_counter = 0;
    }else{
        pre_arm_checks(false);
    }

    // auto disarm checks
    auto_disarm_check();

    if (!motors.armed()) {
        // make it possible to change ahrs orientation at runtime during initial config
        ahrs.set_orientation();

        // check the user hasn't updated the frame orientation
        motors.set_frame_orientation(g.frame_orientation);

#if FRAME_CONFIG != HELI_FRAME
        // set all throttle channel settings
        motors.set_throttle_range(g.throttle_min, channel_throttle->radio_min, channel_throttle->radio_max);
        // set hover throttle
        motors.set_hover_throttle(g.throttle_mid);
#endif
    }

    // update assigned functions and enable auxiliar servos
    RC_Channel_aux::enable_aux_servos();

    check_usb_mux();

#if AP_TERRAIN_AVAILABLE
    terrain.update();

    // tell the rangefinder our height, so it can go into power saving
    // mode if available
#if CONFIG_SONAR == ENABLED
    float height;
    if (terrain.height_above_terrain(height, true)) {
        sonar.set_estimated_terrain_height(height);
    }
#endif
#endif

    // update position controller alt limits
    update_poscon_alt_max();

    // enable/disable raw gyro/accel logging
    ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
}

Example #4

File: ArduCopter.cpp Project: Amnesiac2/ardupilot

void Copter::init_simple_bearing()
{
    // capture current cos_yaw and sin_yaw values
    simple_cos_yaw = ahrs.cos_yaw();
    simple_sin_yaw = ahrs.sin_yaw();

    // initialise super simple heading (i.e. heading towards home) to be 180 deg from simple mode heading
    super_simple_last_bearing = wrap_360_cd(ahrs.yaw_sensor+18000);
    super_simple_cos_yaw = simple_cos_yaw;
    super_simple_sin_yaw = simple_sin_yaw;

    // log the simple bearing to dataflash
    if (should_log(MASK_LOG_ANY)) {
        Log_Write_Data(DATA_INIT_SIMPLE_BEARING, ahrs.yaw_sensor);
    }
}

Example #5

File: ArduSub.cpp Project: hughhugh/ardusub

// one_hz_loop - runs at 1Hz
void Sub::one_hz_loop()
{
    if (should_log(MASK_LOG_ANY)) {
        Log_Write_Data(DATA_AP_STATE, ap.value);
    }

    update_arming_checks();

    if (!motors.armed()) {
        // make it possible to change ahrs orientation at runtime during initial config
        ahrs.set_orientation();

        update_using_interlock();

        // check the user hasn't updated the frame orientation
        motors.set_frame_orientation(g.frame_orientation);

        // set all throttle channel settings
        motors.set_throttle_range(g.throttle_min, channel_throttle->radio_min, channel_throttle->radio_max);
        // set hover throttle
        motors.set_hover_throttle(g.throttle_mid);
    }

    // update assigned functions and enable auxiliary servos
    RC_Channel_aux::enable_aux_servos();

    check_usb_mux();

#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
    terrain.update();

    // tell the rangefinder our height, so it can go into power saving
    // mode if available
#if CONFIG_SONAR == ENABLED
    float height;
    if (terrain.height_above_terrain(height, true)) {
        sonar.set_estimated_terrain_height(height);
    }
#endif
#endif

    // update position controller alt limits
    update_poscon_alt_max();

    // enable/disable raw gyro/accel logging
    ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
}

Example #6

File: ArduCopter.cpp Project: mblsktxy/ardupilot

// one_hz_loop - runs at 1Hz
void Copter::one_hz_loop()
{
    if (should_log(MASK_LOG_ANY)) {
        Log_Write_Data(DATA_AP_STATE, ap.value);
    }

    arming.update();

    if (!motors->armed()) {
        // make it possible to change ahrs orientation at runtime during initial config
        ahrs.update_orientation();

        update_using_interlock();

        // check the user hasn't updated the frame class or type
        motors->set_frame_class_and_type((AP_Motors::motor_frame_class)g2.frame_class.get(), (AP_Motors::motor_frame_type)g.frame_type.get());

#if FRAME_CONFIG != HELI_FRAME
        // set all throttle channel settings
        motors->set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
#endif
    }

    // update assigned functions and enable auxiliary servos
    SRV_Channels::enable_aux_servos();

    // log terrain data
    terrain_logging();

#if ADSB_ENABLED == ENABLED
    adsb.set_is_flying(!ap.land_complete);
#endif

    AP_Notify::flags.flying = !ap.land_complete;

    // update error mask of sensors and subsystems. The mask uses the
    // MAV_SYS_STATUS_* values from mavlink. If a bit is set then it
    // indicates that the sensor or subsystem is present but not
    // functioning correctly
    gcs().update_sensor_status_flags();

    // init compass location for declination
    init_compass_location();
}

Example #7

File: ArduCopter.cpp Project: lthall/Leonard_ardupilot

// one_hz_loop - runs at 1Hz
void Copter::one_hz_loop()
{
    if (should_log(MASK_LOG_ANY)) {
        Log_Write_Data(DATA_AP_STATE, ap.value);
    }

    update_arming_checks();

    if (!motors.armed()) {
        // make it possible to change ahrs orientation at runtime during initial config
        ahrs.set_orientation();

        update_using_interlock();

#if FRAME_CONFIG != HELI_FRAME
        // check the user hasn't updated the frame orientation
        motors.set_frame_orientation(g.frame_orientation);

        // set all throttle channel settings
        motors.set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
#endif
    }

    // update assigned functions and enable auxiliary servos
    RC_Channel_aux::enable_aux_servos();

    check_usb_mux();

    // update position controller alt limits
    update_poscon_alt_max();

    // enable/disable raw gyro/accel logging
    ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));

    // log terrain data
    terrain_logging();

    adsb.set_is_flying(!ap.land_complete);
}