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Code Issues Releases Activity

AHRS: Store running time to make detect resets easier. Update OP and AHRS in

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parallel for this update.  Also removed comment for rawhid

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2012 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-10-27 14:31:32 +00:00 committed by peabody124
parent f1ba558fa1
commit 2019edd612
6 changed files with 33 additions and 5 deletions
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14
flight/AHRS/ahrs.c
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@ -206,6 +206,9 @@ int main()
gps_data.quality = -1;
uint32_t last_gps_time = 0;
uint32_t last_indoor_time = 0;
uint32_t up_time_real = 0;
uint32_t up_time = 0;
uint32_t last_up_time = 0;
ahrs_algorithm = AHRSSETTINGS_ALGORITHM_SIMPLE;
@ -311,9 +314,16 @@ for all data to be up to date before doing anything*/
AhrsStatusGet(&status);
status.CPULoad = ((float)running_counts /
(float)(idle_counts + running_counts)) * 100;
status.IdleTimePerCyle = idle_counts / (TIMER_RATE / 10000);
status.RunningTimePerCyle = running_counts / (TIMER_RATE / 10000);
status.IdleTimePerCyle = idle_counts / (timer_rate() / 10000);
status.RunningTimePerCyle = running_counts / (timer_rate() / 10000);
status.DroppedUpdates = ekf_too_slow;
up_time = timer_count();
if(up_time >= last_up_time) // normal condition
up_time_real += ((up_time - last_up_time) * 1000) / timer_rate();
else
up_time_real += ((0xFFFF - last_up_time + up_time) * 1000) / timer_rate();
last_up_time = up_time;
status.RunningTime = up_time_real;
AhrsStatusSet(&status);
// Alive signal

4
flight/OpenPilot/UAVObjects/inc/ahrsstatus.h
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@ -41,7 +41,7 @@
#define AHRSSTATUS_H
// Object constants
#define AHRSSTATUS_OBJID 3773703778U
#define AHRSSTATUS_OBJID 933623714U
#define AHRSSTATUS_NAME "AhrsStatus"
#define AHRSSTATUS_METANAME "AhrsStatusMeta"
#define AHRSSTATUS_ISSINGLEINST 1
@ -73,6 +73,7 @@
typedef struct {
uint8_t SerialNumber[8];
uint8_t CPULoad;
uint32_t RunningTime;
uint8_t IdleTimePerCyle;
uint8_t RunningTimePerCyle;
uint8_t DroppedUpdates;
@ -92,6 +93,7 @@ typedef struct {
/* Number of elements for field SerialNumber */
#define AHRSSTATUS_SERIALNUMBER_NUMELEM 8
// Field CPULoad information
// Field RunningTime information
// Field IdleTimePerCyle information
// Field RunningTimePerCyle information
// Field DroppedUpdates information

3
ground/src/plugins/uavobjects/ahrsstatus.cpp
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@ -55,6 +55,9 @@ AhrsStatus::AhrsStatus(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
QStringList CPULoadElemNames;
CPULoadElemNames.append("0");
fields.append( new UAVObjectField(QString("CPULoad"), QString("count"), UAVObjectField::UINT8, CPULoadElemNames, QStringList()) );
QStringList RunningTimeElemNames;
RunningTimeElemNames.append("0");
fields.append( new UAVObjectField(QString("RunningTime"), QString("ms"), UAVObjectField::UINT32, RunningTimeElemNames, QStringList()) );
QStringList IdleTimePerCyleElemNames;
IdleTimePerCyleElemNames.append("0");
fields.append( new UAVObjectField(QString("IdleTimePerCyle"), QString("10x ms"), UAVObjectField::UINT8, IdleTimePerCyleElemNames, QStringList()) );

4
ground/src/plugins/uavobjects/ahrsstatus.h
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@ -45,6 +45,7 @@ public:
typedef struct {
quint8 SerialNumber[8];
quint8 CPULoad;
quint32 RunningTime;
quint8 IdleTimePerCyle;
quint8 RunningTimePerCyle;
quint8 DroppedUpdates;
@ -64,6 +65,7 @@ public:
/* Number of elements for field SerialNumber */
static const quint32 SERIALNUMBER_NUMELEM = 8;
// Field CPULoad information
// Field RunningTime information
// Field IdleTimePerCyle information
// Field RunningTimePerCyle information
// Field DroppedUpdates information
@ -80,7 +82,7 @@ public:
// Constants
static const quint32 OBJID = 3773703778U;
static const quint32 OBJID = 933623714U;
static const QString NAME;
static const bool ISSINGLEINST = 1;
static const bool ISSETTINGS = 0;

12
ground/src/plugins/uavobjects/ahrsstatus.py
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@ -64,6 +64,16 @@ _fields = [ \
{
}
),
uavobject.UAVObjectField(
'RunningTime',
'I',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'IdleTimePerCyle',
'B',
@ -181,7 +191,7 @@ _fields = [ \
class AhrsStatus(uavobject.UAVObject):
## Object constants
OBJID = 3773703778
OBJID = 933623714
NAME = "AhrsStatus"
METANAME = "AhrsStatusMeta"
ISSINGLEINST = 1

1
ground/src/shared/uavobjectdefinition/ahrsstatus.xml
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@ -3,6 +3,7 @@
<description>Status for the @ref AHRSCommsModule, including communication errors</description>
<field name="SerialNumber" units="n/a" type="uint8" elements="8"/>
<field name="CPULoad" units="count" type="uint8" elements="1"/>
<field name="RunningTime" units="ms" type="uint32" elements="1"/>
<field name="IdleTimePerCyle" units="10x ms" type="uint8" elements="1"/>
<field name="RunningTimePerCyle" units="10x ms" type="uint8" elements="1"/>
<field name="DroppedUpdates" units="count" type="uint8" elements="1"/>