Trying to use tlog writer for my own transmissions #183
Description
My tlogWriter setup (snip off):
dialectRW := &dialect.ReadWriter{Dialect: ardupilotmega.Dialect}
err := dialectRW.Initialize()
if err != nil {
log.Errorf("Failed to initialize dialect: %v", err)
return err
}
mc.dialectRW = dialectRW
file, err := os.Create("output.tlog")
if err != nil {
return err
}
writer := &tlog.Writer{
ByteWriter: file,
DialectRW: mc.dialectRW,
}
err = writer.Initialize()
if err != nil {
return err
}
mc.tlogWriter = writer
return nilWith that output.tlog is created and I'm able to log each incoming message like so (snip off):
if frm, ok := evt.(*gomavlib.EventFrame); ok {
mc.logIncomingFrame(frm.Frame)whereas
func (mc *MavlinkClient) logIncomingFrame(f frame.Frame) {
if mc.tlogWriter == nil {
return
}
var copy frame.Frame
switch v := f.(type) {
case *frame.V2Frame:
var sig *frame.V2Signature
if v.Signature != nil {
s := *v.Signature
sig = &s
}
copy = &frame.V2Frame{
IncompatibilityFlag: v.IncompatibilityFlag,
CompatibilityFlag: v.CompatibilityFlag,
SequenceNumber: v.SequenceNumber,
SystemID: v.SystemID,
ComponentID: v.ComponentID,
Message: v.Message,
Checksum: v.Checksum,
SignatureLinkID: v.SignatureLinkID,
SignatureTimestamp: v.SignatureTimestamp,
Signature: sig,
}
case *frame.V1Frame:
copy = &frame.V1Frame{
SequenceNumber: v.SequenceNumber,
SystemID: v.SystemID,
ComponentID: v.ComponentID,
Message: v.Message,
Checksum: v.Checksum,
}
default:
return
}
err := mc.tlogWriter.Write(&tlog.Entry{
Time: time.Now(),
Frame: copy,
})
if err != nil {
log.Warnf("tlog write (incoming) failed: %v", err)
}
}That works fine!
Now I'm trying to also log my outgoing message, so messages like this one (snip off):
// Prepare the command message
msg := &ardupilotmega.MessageCommandLong{
TargetSystem: sysID,
TargetComponent: compID,
Command: cmd,
Confirmation: 0,
}
log.Infof("Sending COMMAND_LONG msgID=%d type=%T", msg.GetID(), msg)
if p.Params.Param1 != nil {
msg.Param1 = float32(*p.Params.Param1)
}
if p.Params.Param2 != nil {
msg.Param2 = float32(*p.Params.Param2)
}
if p.Params.Param3 != nil {
msg.Param3 = float32(*p.Params.Param3)
}
if p.Params.Param4 != nil {
msg.Param4 = float32(*p.Params.Param4)
}
if p.Params.Param5 != nil {
msg.Param5 = float32(*p.Params.Param5)
}
if p.Params.Param6 != nil {
msg.Param6 = float32(*p.Params.Param6)
}
if p.Params.Param7 != nil {
msg.Param7 = float32(*p.Params.Param7)
}
mc.logOutgoingMessage(msg)whereas
func (mc *MavlinkClient) logOutgoingMessage(msg message.Message) {
if mc.tlogWriter == nil {
return
}
fr := &frame.V2Frame{
SystemID: mc.sysID,
ComponentID: mc.compID,
Message: msg,
}
err := mc.tlogWriter.Write(&tlog.Entry{
Time: time.Now(),
Frame: fr,
})
if err != nil {
log.Warnf("tlog write failed: %v", err)
}
}I'm getting a log entry, for instance when sending the ARM command, but mavlogdump.py complains about missing/wrong CRC:
2025-05-22 22:03:58.83: BAD_DATA {invalid MAVLink CRC in msgID 76 0x0000 should be 0xf33b, data:['fd', '20', '0', '0', '0', '1', '1', '4c', '0', '0', '0', '0', '80', '3f', '0', '0', '0', '0', '0', '0', '0', '0', '0', '0', '0', '0', '0', '0', '0', '0', '0', '0', '0', '0', '0', '0', '0', '0', '90', '1', '1', '1', '0', '0']}
Can somebody give me a pointer, how to create an entry with a valid CRC?