예제 #1
0
파일: logging.c 프로젝트: Trex4Git/dRonin
/**
 * Register objects for the default logging profile
 */
static void register_default_profile()
{
	// For the default profile, we limit things to 100Hz (for now)
	uint16_t min_period = MAX(get_minimum_logging_period(), 10);

	// Objects for which we log all changes (use 100Hz to limit max data rate)
	UAVObjConnectCallbackThrottled(FlightStatusHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 10);
	UAVObjConnectCallbackThrottled(SystemAlarmsHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 10);
	if (WaypointActiveHandle()) {
		UAVObjConnectCallbackThrottled(WaypointActiveHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 10);
	}

	if (SystemIdentHandle()){
		UAVObjConnectCallbackThrottled(SystemIdentHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 10);
	}

	// Log fast
	UAVObjConnectCallbackThrottled(AccelsHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, min_period);
	UAVObjConnectCallbackThrottled(GyrosHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, min_period);

	// Log a bit slower
	UAVObjConnectCallbackThrottled(AttitudeActualHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 5 * min_period);
	UAVObjConnectCallbackThrottled(MagnetometerHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 5 * min_period);
	UAVObjConnectCallbackThrottled(ManualControlCommandHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 5 * min_period);
	UAVObjConnectCallbackThrottled(ActuatorDesiredHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 5 * min_period);
	UAVObjConnectCallbackThrottled(StabilizationDesiredHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 5 * min_period);

	// Log slow
	if (FlightBatteryStateHandle()) {
		UAVObjConnectCallbackThrottled(FlightBatteryStateHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 10 * min_period);
	}
	if (BaroAltitudeHandle()) {
		UAVObjConnectCallbackThrottled(BaroAltitudeHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 10 * min_period);
	}
	if (AirspeedActualHandle()) {
		UAVObjConnectCallbackThrottled(AirspeedActualHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 10 * min_period);
	}
	if (GPSPositionHandle()) {
		UAVObjConnectCallbackThrottled(GPSPositionHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 10 * min_period);
	}
	if (PositionActualHandle()) {
		UAVObjConnectCallbackThrottled(PositionActualHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 10 * min_period);
	}
	if (VelocityActualHandle()) {
		UAVObjConnectCallbackThrottled(VelocityActualHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 10 * min_period);
	}

	// Log very slow
	if (GPSTimeHandle()) {
		UAVObjConnectCallbackThrottled(GPSTimeHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 50 * min_period);
	}

	// Log very very slow
	if (GPSSatellitesHandle()) {
		UAVObjConnectCallbackThrottled(GPSSatellitesHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 500 * min_period);
	}
}
예제 #2
0
void GPSSatellitesSNRGet( int8_t *NewSNR )
{
	UAVObjGetDataField(GPSSatellitesHandle(), (void*)NewSNR, offsetof( GPSSatellitesData, SNR), 30*sizeof(int8_t));
}
예제 #3
0
void GPSSatellitesElevationGet( int8_t *NewElevation )
{
	UAVObjGetDataField(GPSSatellitesHandle(), (void*)NewElevation, offsetof( GPSSatellitesData, Elevation), 30*sizeof(int8_t));
}
예제 #4
0
void GPSSatellitesPRNGet( uint8_t *NewPRN )
{
	UAVObjGetDataField(GPSSatellitesHandle(), (void*)NewPRN, offsetof( GPSSatellitesData, PRN), 30*sizeof(uint8_t));
}
예제 #5
0
void GPSSatellitesSatsInViewGet( uint8_t *NewSatsInView )
{
	UAVObjGetDataField(GPSSatellitesHandle(), (void*)NewSatsInView, offsetof( GPSSatellitesData, SatsInView), sizeof(uint8_t));
}
예제 #6
0
void GPSSatellitesAzimuthGet( int16_t *NewAzimuth )
{
	UAVObjGetDataField(GPSSatellitesHandle(), (void*)NewAzimuth, offsetof( GPSSatellitesData, Azimuth), 30*sizeof(int16_t));
}