AP_Logger: log valid-input and in-rc-failsafe

Can now sensibly log these now the RC_Channels library has the methods
joshanne · Sep 12, 2023 · 86aad6f · 86aad6f
1 parent ffc553f
commit 86aad6f
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Showing 3 changed files with 21 additions and 20 deletions.
diff --git a/libraries/AP_Logger/AP_Logger.h b/libraries/AP_Logger/AP_Logger.h
@@ -431,6 +431,11 @@ class AP_Logger
         BLOCK      = (1<<2),
     };
 
+    enum class RCLoggingFlags : uint8_t {
+        HAS_VALID_INPUT = 1U<<0,  // true if the system is receiving good RC values
+        IN_RC_FAILSAFE =  1U<<1,  // true if the system is current in RC failsafe
+    };
+
     /*
      * support for dynamic Write; user-supplies name, format,
      * labels and values in a single function call.

diff --git a/libraries/AP_Logger/LogFile.cpp b/libraries/AP_Logger/LogFile.cpp
@@ -159,28 +159,21 @@ void AP_Logger::Write_RCIN(void)
     };
     WriteBlock(&pkt, sizeof(pkt));
 
-    const uint16_t override_mask = rc().get_override_mask();
-
-    // don't waste logging bandwidth if we haven't seen non-zero
-    // channels 15/16:
-    if (!should_log_rcin2) {
-        if (values[14] || values[15]) {
-            should_log_rcin2 = true;
-        } else if (override_mask != 0) {
-            should_log_rcin2 = true;
-        }
+    uint8_t flags = 0;
+    if (rc().has_valid_input()) {
+        flags |= (uint8_t)AP_Logger::RCLoggingFlags::HAS_VALID_INPUT;
     }
-
-    if (!should_log_rcin2) {
-        return;
+    if (rc().in_rc_failsafe()) {
+        flags |= (uint8_t)AP_Logger::RCLoggingFlags::IN_RC_FAILSAFE;
     }
 
-    const struct log_RCIN2 pkt2{
-        LOG_PACKET_HEADER_INIT(LOG_RCIN2_MSG),
+    const struct log_RCI2 pkt2{
+        LOG_PACKET_HEADER_INIT(LOG_RCI2_MSG),
         time_us       : AP_HAL::micros64(),
         chan15         : values[14],
         chan16         : values[15],
-        override_mask  : override_mask,
+        override_mask  : rc().get_override_mask(),
+        flags          : flags,
     };
     WriteBlock(&pkt2, sizeof(pkt2));
 }

diff --git a/libraries/AP_Logger/LogStructure.h b/libraries/AP_Logger/LogStructure.h
@@ -262,12 +262,13 @@ struct PACKED log_RCIN {
     uint16_t chan14;
 };
 
-struct PACKED log_RCIN2 {
+struct PACKED log_RCI2 {
     LOG_PACKET_HEADER;
     uint64_t time_us;
     uint16_t chan15;
     uint16_t chan16;
     uint16_t override_mask;
+    uint8_t flags;
 };
 
 struct PACKED log_RCOUT {
@@ -971,6 +972,8 @@ struct PACKED log_VER {
 // @Field: C15: channel 15 input
 // @Field: C16: channel 16 input
 // @Field: OMask: bitmask of RC channels being overridden by mavlink input
+// @Field: Flags: bitmask of RC state flags
+// @FieldBitmaskEnum: Flags: AP_Logger::RCLoggingFlags
 
 // @LoggerMessage: RCIN
 // @Description: RC input channels to vehicle
@@ -1204,8 +1207,8 @@ LOG_STRUCTURE_FROM_GPS \
       "MSG",  "QZ",     "TimeUS,Message", "s-", "F-"}, \
     { LOG_RCIN_MSG, sizeof(log_RCIN), \
       "RCIN",  "QHHHHHHHHHHHHHH",     "TimeUS,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14", "sYYYYYYYYYYYYYY", "F--------------", true }, \
-    { LOG_RCIN2_MSG, sizeof(log_RCIN2), \
-      "RCI2",  "QHHH",     "TimeUS,C15,C16,OMask", "sYY-", "F---", true }, \
+    { LOG_RCI2_MSG, sizeof(log_RCI2), \
+      "RCI2",  "QHHHB",     "TimeUS,C15,C16,OMask,Flags", "sYY--", "F----", true }, \
     { LOG_RCOUT_MSG, sizeof(log_RCOUT), \
       "RCOU",  "QHHHHHHHHHHHHHH",     "TimeUS,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14", "sYYYYYYYYYYYYYY", "F--------------", true  }, \
     { LOG_RCOUT2_MSG, sizeof(log_RCOUT2), \
@@ -1324,7 +1327,7 @@ enum LogMessages : uint8_t {
     LOG_IDS_FROM_NAVEKF3,
     LOG_MESSAGE_MSG,
     LOG_RCIN_MSG,
-    LOG_RCIN2_MSG,
+    LOG_RCI2_MSG,
     LOG_RCOUT_MSG,
     LOG_RSSI_MSG,
     LOG_IDS_FROM_BARO,