log_feed.h File Reference

Producers' side of the flight log: build a record from the values the task already has and queue it (log/log_queue.h). More...

#include <stdint.h>
#include "fc_core.h"
#include "battery.h"

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Functions
void	logf_set_clock (uint32_t(*now_ms)(void))
	clock for the event records (ms)
void	logf_att (uint32_t t, const float q[4], const float gyro[3], const float acc_g[3])
void	logf_vert (uint32_t t, const fc_vert_t *v, const fc_setpoint_t *sp, uint16_t tof_mm, uint32_t baro_pa)
void	logf_flight (uint32_t t, const fc_state_t *s)
void	logf_est (uint32_t t, const float gyro_bias[3], float att_unc_deg, float vib_mg, float loop_hz, float jitter_us, float cpu_pct, float mag_interf_pct)
void	logf_event (const fc_event_t *e)
	fc_config_t.on_event
void	logf_power (uint32_t t, const batt_state_t *b)

Detailed Description

Producers' side of the flight log: build a record from the values the task already has and queue it (log/log_queue.h).

Every function returns at once when no log is open (log_q_active() = 0). ImuTask: logf_att, logf_vert, logf_flight, logf_est, logf_event (via the flight core's on_event hook). BattTask: logf_power. Host-testable.

Definition in file log_feed.h.

Function Documentation

logf_set_clock()

void logf_set_clock

(

uint32_t(*)(void)

now_ms

)

clock for the event records (ms)

Definition at line 13 of file log_feed.c.

References s_clock.

Referenced by app_start().

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logf_att()

void logf_att	(	uint32_t	t,
		const float	q[4],
		const float	gyro[3],
		const float	acc_g[3]
	)

Definition at line 20 of file log_feed.c.

References log_att_t::acc, log_att_t::gyro, i16(), log_q_active(), log_q_put(), LOG_SRC_IMU, LR_ATT, log_att_t::q, and log_att_t::t_ms.

Referenced by log_records().

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logf_vert()

void logf_vert	(	uint32_t	t,
		const fc_vert_t *	v,
		const fc_setpoint_t *	sp,
		uint16_t	tof_mm,
		uint32_t	baro_pa
	)

Definition at line 30 of file log_feed.c.

References log_vert_t::baro_pa, log_vert_t::flags, fc_vert_t::flow_q, log_vert_t::flow_q, fc_vert_t::flow_usable, fc_vert_t::h, log_vert_t::h_mm, log_vert_t::h_sp_mm, i16(), i32(), log_q_active(), log_q_put(), LOG_SRC_IMU, LR_VERT, sp, log_vert_t::t_ms, log_vert_t::thrust, fc_vert_t::tof_ground, log_vert_t::tof_mm, fc_vert_t::tof_valid, fc_vert_t::valid, fc_vert_t::vz, log_vert_t::vz_mms, and log_vert_t::vz_sp_mms.

Referenced by log_records().

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logf_flight()

void logf_flight	(	uint32_t	t,
		const fc_state_t *	s
	)

Definition at line 50 of file log_feed.c.

References log_flight_t::armed, log_flight_t::autom, log_flight_t::failsafe, log_flight_t::flags, i8(), log_q_active(), log_q_put(), LOG_SRC_IMU, LR_FLIGHT, log_flight_t::mode, s, log_flight_t::silence_ms, log_flight_t::stick, and log_flight_t::t_ms.

Referenced by log_records().

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logf_est()

void logf_est	(	uint32_t	t,
		const float	gyro_bias[3],
		float	att_unc_deg,
		float	vib_mg,
		float	loop_hz,
		float	jitter_us,
		float	cpu_pct,
		float	mag_interf_pct
	)

Definition at line 63 of file log_feed.c.

References log_est_t::att_unc_cdeg, b, log_est_t::cpu_pct, log_est_t::gyro_bias, i16(), log_est_t::jitter_us, log_q_active(), log_q_put(), LOG_SRC_IMU, log_est_t::loop_hz, LR_EST, log_est_t::mag_interf_pct, log_est_t::t_ms, u16(), and log_est_t::vib_mg.

Referenced by log_records().

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logf_event()

void logf_event

(

const fc_event_t *

e

)

fc_config_t.on_event

Definition at line 78 of file log_feed.c.

References fc_event_t::arg, log_event_t::arg, fc_event_t::code, log_event_t::code, fc_event_t::level, log_event_t::level, log_q_active(), log_q_put(), LOG_SRC_IMU, LR_EVENT, s_clock, and log_event_t::t_ms.

Referenced by app_start().

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logf_power()

void logf_power	(	uint32_t	t,
		const batt_state_t *	b
	)

Definition at line 87 of file log_feed.c.

References b, log_power_t::cell_mv, log_power_t::cell_rest_mv, log_power_t::cells, log_power_t::current_ca, i16(), log_power_t::level, log_q_active(), log_q_put(), LOG_SRC_BATT, LR_POWER, log_power_t::pct, log_power_t::r_cell_mohm, log_power_t::t_ms, u16(), log_power_t::used_mah, and log_power_t::vbat_mv.

Referenced by batt_task_step().

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