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

parallel for this update.  Also removed comment for rawhid

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2012 ebee16cc-31ac-478f-84a7-5cbb03baadba

flight/AHRS/ahrs.c

@@ -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.IdleTimePerCyle = idle_counts / (timer_rate() / 10000);
-		status.RunningTimePerCyle = running_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

flight/OpenPilot/UAVObjects/inc/ahrsstatus.h

@@ -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

ground/src/plugins/uavobjects/ahrsstatus.cpp

@@ -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()) );

ground/src/plugins/uavobjects/ahrsstatus.h

@@ -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;

ground/src/plugins/uavobjects/ahrsstatus.py

@@ -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

ground/src/shared/uavobjectdefinition/ahrsstatus.xml

@@ -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"/>