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Rev 578 | Rev 581 | ||
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Line 501... | Line 501... | ||
501 | sprintf(string, "<BL_MaxPWM>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</BL_MaxPWM>\r\n",Motor.MaxPWM[0],Motor.MaxPWM[1],Motor.MaxPWM[2],Motor.MaxPWM[3],Motor.MaxPWM[4],Motor.MaxPWM[5],Motor.MaxPWM[6],Motor.MaxPWM[7],Motor.MaxPWM[8],Motor.MaxPWM[9],Motor.MaxPWM[10],Motor.MaxPWM[11]); |
501 | sprintf(string, "<BL_MaxPWM>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</BL_MaxPWM>\r\n",Motor.MaxPWM[0],Motor.MaxPWM[1],Motor.MaxPWM[2],Motor.MaxPWM[3],Motor.MaxPWM[4],Motor.MaxPWM[5],Motor.MaxPWM[6],Motor.MaxPWM[7],Motor.MaxPWM[8],Motor.MaxPWM[9],Motor.MaxPWM[10],Motor.MaxPWM[11]); |
502 | fputs_(string, doc->file); |
502 | fputs_(string, doc->file); |
503 | */ sprintf(string, "<AvaiableMotorPower>%03d</AvaiableMotorPower>\r\n",Logging_BL_MinOfMaxPWM); |
503 | */ sprintf(string, "<AvaiableMotorPower>%03d</AvaiableMotorPower>\r\n",Logging_BL_MinOfMaxPWM); |
504 | Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
504 | Logging_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
505 | fputs_(string, doc->file); |
505 | fputs_(string, doc->file); |
- | 506 | ||
- | 507 | // Gas values |
|
- | 508 | if(LoggingGasCnt > 1) LoggingGasFilter = LoggingGasFilter / LoggingGasCnt; |
|
506 | sprintf(string, "<Gas>%03d,%03d</Gas>\r\n",LoggingGasFilter / LoggingGasCnt,HoverGas); |
509 | sprintf(string, "<Gas>%03d,%03d</Gas>\r\n",LoggingGasFilter,HoverGas); |
507 | LoggingGasFilter = 0; LoggingGasCnt=0; |
510 | LoggingGasCnt = 0; |
- | 511 | ||
508 | fputs_(string, doc->file); |
512 | fputs_(string, doc->file); |
509 | sprintf(string, "<FC_I2C_ErrorCounter>%03d</FC_I2C_ErrorCounter>\r\n",(s16)FC_I2C_ErrorConter); |
513 | sprintf(string, "<FC_I2C_ErrorCounter>%03d</FC_I2C_ErrorCounter>\r\n",(s16)FC_I2C_ErrorConter); |
510 | fputs_(string, doc->file); |
514 | fputs_(string, doc->file); |
511 | sprintf(string, "<FC_SPI_ErrorCounter>%03d</FC_SPI_ErrorCounter>\r\n",(s16)DebugOut.Analog[12]); |
515 | sprintf(string, "<FC_SPI_ErrorCounter>%03d</FC_SPI_ErrorCounter>\r\n",(s16)DebugOut.Analog[12]); |
512 | fputs_(string, doc->file); |
516 | fputs_(string, doc->file); |
Line 543... | Line 547... | ||
543 | sprintf(string, "<GroundSpeed>%d</GroundSpeed>\r\n", NaviData.GroundSpeed); |
547 | sprintf(string, "<GroundSpeed>%d</GroundSpeed>\r\n", NaviData.GroundSpeed); |
544 | fputs_(string, doc->file); |
548 | fputs_(string, doc->file); |
545 | // Vertical Speed in cm/s |
549 | // Vertical Speed in cm/s |
546 | sprintf(string, "<VerticalSpeed>%d</VerticalSpeed>\r\n", NaviData.TopSpeed); |
550 | sprintf(string, "<VerticalSpeed>%d</VerticalSpeed>\r\n", NaviData.TopSpeed); |
547 | fputs_(string, doc->file); |
551 | fputs_(string, doc->file); |
548 | break; |
- | |
549 | case 8: |
- | |
550 | // RC Sticks as Nick/Roll/Yaw |
552 | // RC Sticks as Nick/Roll/Yaw |
551 | sprintf(string, "<RCSticks>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</RCSticks>\r\n", FC.StickNick,FC.StickRoll, FC.StickYaw, FC.StickGas,FC.Poti[0],FC.Poti[1],FC.Poti[2],FC.Poti[3],FC.Poti[4],FC.Poti[5],FC.Poti[6],FC.Poti[7]); |
553 | sprintf(string, "<RCSticks>%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d</RCSticks>\r\n", FC.StickNick,FC.StickRoll, FC.StickYaw, FC.StickGas,FC.Poti[0],FC.Poti[1],FC.Poti[2],FC.Poti[3],FC.Poti[4],FC.Poti[5],FC.Poti[6],FC.Poti[7]); |
552 | fputs_(string, doc->file); |
554 | fputs_(string, doc->file); |
553 | // GPS Sticks as Nick/Roll/Yaw |
555 | // GPS Sticks as Nick/Roll/Yaw |
554 | sprintf(string, "<GPSSticks>%d,%d,%d,'%c'</GPSSticks>\r\n", ToFlightCtrl.GPSStick.Nick, ToFlightCtrl.GPSStick.Roll, 0 ,NC_GPS_ModeCharacter); |
556 | sprintf(string, "<GPSSticks>%d,%d,%d,'%c'</GPSSticks>\r\n", ToFlightCtrl.GPSStick.Nick, ToFlightCtrl.GPSStick.Roll, 0 ,NC_GPS_ModeCharacter); |
555 | fputs_(string, doc->file); |
557 | fputs_(string, doc->file); |
556 | // RC Quality |
558 | // RC Quality |
557 | sprintf(string, "<RCQuality>%d</RCQuality>\r\n", FC.RC_Quality); |
559 | sprintf(string, "<RCQuality>%d</RCQuality>\r\n", FC.RC_Quality); |
558 | fputs_(string, doc->file); |
560 | fputs_(string, doc->file); |
- | 561 | // raw GPS altitude |
|
- | 562 | i32_2 = altitude; |
|
- | 563 | if(GPSData.Position.Status == INVALID) i32_2 = 0; |
|
- | 564 | i32_1 = i32_2/1000L; |
|
- | 565 | i32_2 = i32_2%1000L; |
|
- | 566 | if(altitude < 0) sprintf(string,"<ele_raw>-%ld.%03ld</ele_raw>\r\n",labs(i32_1),labs(i32_2)); |
|
- | 567 | else sprintf(string,"<ele_raw>%ld.%03ld</ele_raw>\r\n",i32_1,i32_2); |
|
- | 568 | fputs_(string, doc->file); |
|
- | 569 | break; |
|
- | 570 | case 8: |
|
559 | // Drift compensation |
571 | // Drift compensation |
560 | /* |
572 | /* |
561 | if(Parameter.Driftkomp) |
573 | if(Parameter.Driftkomp) |
562 | { |
574 | { |
563 | sprintf(string, "<Neutral>%d,%d,%d</Neutral>\r\n", FC.AdNeutralNick,FC.AdNeutralRoll,FC.AdNeutralYaw); |
575 | sprintf(string, "<Neutral>%d,%d,%d</Neutral>\r\n", FC.AdNeutralNick,FC.AdNeutralRoll,FC.AdNeutralYaw); |
564 | fputs_(string, doc->file); |
576 | fputs_(string, doc->file); |
565 | } |
577 | } |
566 | */ |
578 | */ |
567 | // Navigation Update speed (in 0.1Hz) |
579 | // Navigation Update speed (in 0.1Hz) |
568 | // sprintf(string, "<NaviUpdate>%d,%d</NaviUpdate>\r\n",FreqGpsProcessedIn5Sec,FreqNewGpsDataIn5Sec); |
580 | sprintf(string, "<NaviUpdate>%d,%d</NaviUpdate>\r\n",FreqGpsProcessedIn5Sec,FreqNewGpsDataIn5Sec); |
569 | // fputs_(string, doc->file); |
- | |
570 | // eof extensions |
- | |
571 | i32_2 = altitude; |
- | |
572 | if(GPSData.Position.Status == INVALID) i32_2 = 0; |
- | |
573 | i32_1 = i32_2/1000L; |
- | |
574 | i32_2 = i32_2%1000L; |
- | |
575 | if(altitude < 0) sprintf(string,"<ele_raw>-%ld.%03ld</ele_raw>\r\n",labs(i32_1),labs(i32_2)); |
- | |
576 | else sprintf(string,"<ele_raw>%ld.%03ld</ele_raw>\r\n",i32_1,i32_2); |
- | |
577 | fputs_(string, doc->file); |
581 | fputs_(string, doc->file); |
578 | - | ||
- | 582 | // eof extensions |
|
579 | sprintf(string, "</extensions>\r\n"); |
583 | sprintf(string, "</extensions>\r\n"); |
580 | fputs_(string, doc->file); |
584 | fputs_(string, doc->file); |
581 | sprintf(string, "</trkpt>\r\n"); |
585 | sprintf(string, "</trkpt>\r\n"); |
582 | fputs_(string, doc->file); |
586 | fputs_(string, doc->file); |
583 | break; |
587 | break; |