ardupilot/Blimp/Log.cpp

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#include "Blimp.h"
#if LOGGING_ENABLED == ENABLED
// Code to Write and Read packets from AP_Logger log memory
// Code to interact with the user to dump or erase logs
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struct PACKED log_FINI {
LOG_PACKET_HEADER;
uint64_t time_us;
float Right;
float Front;
float Down;
float Yaw;
};
struct PACKED log_FINO {
LOG_PACKET_HEADER;
uint64_t time_us;
float Fin1_Amp;
float Fin1_Off;
float Fin2_Amp;
float Fin2_Off;
float Fin3_Amp;
float Fin3_Off;
float Fin4_Amp;
float Fin4_Off;
};
//Write a fin input packet
void Blimp::Write_FINI(float right, float front, float down, float yaw)
{
const struct log_FINI pkt {
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LOG_PACKET_HEADER_INIT(LOG_FINI_MSG),
time_us : AP_HAL::micros64(),
Right : right,
Front : front,
Down : down,
Yaw : yaw
};
logger.WriteBlock(&pkt, sizeof(pkt));
}
//Write a fin output packet
void Blimp::Write_FINO(float *amp, float *off)
{
const struct log_FINO pkt {
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LOG_PACKET_HEADER_INIT(LOG_FINO_MSG),
time_us : AP_HAL::micros64(),
Fin1_Amp : amp[0],
Fin1_Off : off[0],
Fin2_Amp : amp[1],
Fin2_Off : off[1],
Fin3_Amp : amp[2],
Fin3_Off : off[2],
Fin4_Amp : amp[3],
Fin4_Off : off[3],
};
logger.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Control_Tuning {
LOG_PACKET_HEADER;
uint64_t time_us;
float throttle_in;
float angle_boost;
float throttle_out;
float throttle_hover;
float desired_alt;
float inav_alt;
int32_t baro_alt;
float desired_rangefinder_alt;
float rangefinder_alt;
float terr_alt;
int16_t target_climb_rate;
int16_t climb_rate;
};
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// Write PID packets
void Blimp::Log_Write_PIDs()
{
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logger.Write_PID(LOG_PIVN_MSG, pid_vel_xy.get_pid_info_x());
logger.Write_PID(LOG_PIVE_MSG, pid_vel_xy.get_pid_info_y());
logger.Write_PID(LOG_PIVD_MSG, pid_vel_z.get_pid_info());
logger.Write_PID(LOG_PIVY_MSG, pid_vel_yaw.get_pid_info());
logger.Write_PID(LOG_PIDN_MSG, pid_pos_xy.get_pid_info_x());
logger.Write_PID(LOG_PIDE_MSG, pid_pos_xy.get_pid_info_y());
logger.Write_PID(LOG_PIDD_MSG, pid_pos_z.get_pid_info());
logger.Write_PID(LOG_PIDY_MSG, pid_pos_yaw.get_pid_info());
}
// Write an attitude packet
void Blimp::Log_Write_Attitude()
{
//Attitude targets are all zero since Blimp doesn't have attitude control,
//but the rest of the log message is useful.
ahrs.Write_Attitude(Vector3f{0,0,0});
}
// Write an EKF and POS packet
void Blimp::Log_Write_EKF_POS()
{
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AP::ahrs().Log_Write();
}
struct PACKED log_Data_Int16t {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t id;
int16_t data_value;
};
// Write an int16_t data packet
UNUSED_FUNCTION
void Blimp::Log_Write_Data(LogDataID id, int16_t value)
{
if (should_log(MASK_LOG_ANY)) {
struct log_Data_Int16t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_INT16_MSG),
time_us : AP_HAL::micros64(),
id : (uint8_t)id,
data_value : value
};
logger.WriteCriticalBlock(&pkt, sizeof(pkt));
}
}
struct PACKED log_Data_UInt16t {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t id;
uint16_t data_value;
};
// Write an uint16_t data packet
UNUSED_FUNCTION
void Blimp::Log_Write_Data(LogDataID id, uint16_t value)
{
if (should_log(MASK_LOG_ANY)) {
struct log_Data_UInt16t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_UINT16_MSG),
time_us : AP_HAL::micros64(),
id : (uint8_t)id,
data_value : value
};
logger.WriteCriticalBlock(&pkt, sizeof(pkt));
}
}
struct PACKED log_Data_Int32t {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t id;
int32_t data_value;
};
// Write an int32_t data packet
void Blimp::Log_Write_Data(LogDataID id, int32_t value)
{
if (should_log(MASK_LOG_ANY)) {
struct log_Data_Int32t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_INT32_MSG),
time_us : AP_HAL::micros64(),
id : (uint8_t)id,
data_value : value
};
logger.WriteCriticalBlock(&pkt, sizeof(pkt));
}
}
struct PACKED log_Data_UInt32t {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t id;
uint32_t data_value;
};
// Write a uint32_t data packet
void Blimp::Log_Write_Data(LogDataID id, uint32_t value)
{
if (should_log(MASK_LOG_ANY)) {
struct log_Data_UInt32t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_UINT32_MSG),
time_us : AP_HAL::micros64(),
id : (uint8_t)id,
data_value : value
};
logger.WriteCriticalBlock(&pkt, sizeof(pkt));
}
}
struct PACKED log_Data_Float {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t id;
float data_value;
};
// Write a float data packet
UNUSED_FUNCTION
void Blimp::Log_Write_Data(LogDataID id, float value)
{
if (should_log(MASK_LOG_ANY)) {
struct log_Data_Float pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_FLOAT_MSG),
time_us : AP_HAL::micros64(),
id : (uint8_t)id,
data_value : value
};
logger.WriteCriticalBlock(&pkt, sizeof(pkt));
}
}
struct PACKED log_ParameterTuning {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t parameter; // parameter we are tuning, e.g. 39 is CH6_CIRCLE_RATE
float tuning_value; // normalized value used inside tuning() function
float tuning_min; // tuning minimum value
float tuning_max; // tuning maximum value
};
void Blimp::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max)
{
struct log_ParameterTuning pkt_tune = {
LOG_PACKET_HEADER_INIT(LOG_PARAMTUNE_MSG),
time_us : AP_HAL::micros64(),
parameter : param,
tuning_value : tuning_val,
tuning_min : tune_min,
tuning_max : tune_max
};
logger.WriteBlock(&pkt_tune, sizeof(pkt_tune));
}
// type and unit information can be found in
// libraries/AP_Logger/Logstructure.h; search for "log_Units" for
// units and "Format characters" for field type information
const struct LogStructure Blimp::log_structure[] = {
LOG_COMMON_STRUCTURES,
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// @LoggerMessage: FINI
// @Description: Fin input
// @Field: TimeUS: Time since system startup
// @Field: R: Right
// @Field: F: Front
// @Field: D: Down
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// @Field: Y: Yaw
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{
LOG_FINI_MSG, sizeof(log_FINI),
"FINI", "Qffff", "TimeUS,R,F,D,Y", "s----", "F----"
},
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// @LoggerMessage: FINO
// @Description: Fin output
// @Field: TimeUS: Time since system startup
// @Field: F1A: Fin 1 Amplitude
// @Field: F1O: Fin 1 Offset
// @Field: F2A: Fin 2 Amplitude
// @Field: F2O: Fin 2 Offset
// @Field: F3A: Fin 3 Amplitude
// @Field: F3O: Fin 3 Offset
// @Field: F4A: Fin 4 Amplitude
// @Field: F4O: Fin 4 Offset
{
LOG_FINO_MSG, sizeof(log_FINO),
"FINO", "Qffffffff", "TimeUS,F1A,F1O,F2A,F2O,F3A,F3O,F4A,F4O", "s--------", "F--------"
},
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// @LoggerMessage: PIDD,PIVN,PIVE,PIVD,PIVY
// @Description: Proportional/Integral/Derivative gain values
// @Field: TimeUS: Time since system startup
// @Field: Tar: desired value
// @Field: Act: achieved value
// @Field: Err: error between target and achieved
// @Field: P: proportional part of PID
// @Field: I: integral part of PID
// @Field: D: derivative part of PID
// @Field: FF: controller feed-forward portion of response
// @Field: Dmod: scaler applied to D gain to reduce limit cycling
// @Field: SRate: slew rate
// @Field: Limit: 1 if I term is limited due to output saturation
{
LOG_PIDD_MSG, sizeof(log_PID),
"PIDD", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS
},
{
LOG_PIVN_MSG, sizeof(log_PID),
"PIVN", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS
},
{
LOG_PIVE_MSG, sizeof(log_PID),
"PIVE", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS
},
{
LOG_PIVD_MSG, sizeof(log_PID),
"PIVD", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS
},
{
LOG_PIVY_MSG, sizeof(log_PID),
"PIVY", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS
},
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// @LoggerMessage: PTUN
// @Description: Parameter Tuning information
// @URL: https://ardupilot.org/blimp/docs/tuning.html#in-flight-tuning
// @Field: TimeUS: Time since system startup
// @Field: Param: Parameter being tuned
// @Field: TunVal: Normalized value used inside tuning() function
// @Field: TunMin: Tuning minimum limit
// @Field: TunMax: Tuning maximum limit
{
LOG_PARAMTUNE_MSG, sizeof(log_ParameterTuning),
"PTUN", "QBfff", "TimeUS,Param,TunVal,TunMin,TunMax", "s----", "F----"
},
// @LoggerMessage: CTUN
// @Description: Control Tuning information
// @Field: TimeUS: Time since system startup
// @Field: ThI: throttle input
// @Field: ABst: angle boost
// @Field: ThO: throttle output
// @Field: ThH: calculated hover throttle
// @Field: DAlt: desired altitude
// @Field: Alt: achieved altitude
// @Field: BAlt: barometric altitude
// @Field: DSAlt: desired rangefinder altitude
// @Field: SAlt: achieved rangefinder altitude
// @Field: TAlt: terrain altitude
// @Field: DCRt: desired climb rate
// @Field: CRt: climb rate
// @LoggerMessage: D16
// @Description: Generic 16-bit-signed-integer storage
// @Field: TimeUS: Time since system startup
// @Field: Id: Data type identifier
// @Field: Value: Value
// @LoggerMessage: DU16
// @Description: Generic 16-bit-unsigned-integer storage
// @Field: TimeUS: Time since system startup
// @Field: Id: Data type identifier
// @Field: Value: Value
// @LoggerMessage: D32
// @Description: Generic 32-bit-signed-integer storage
// @Field: TimeUS: Time since system startup
// @Field: Id: Data type identifier
// @Field: Value: Value
// @LoggerMessage: DFLT
// @Description: Generic float storage
// @Field: TimeUS: Time since system startup
// @Field: Id: Data type identifier
// @Field: Value: Value
// @LoggerMessage: DU32
// @Description: Generic 32-bit-unsigned-integer storage
// @Field: TimeUS: Time since system startup
// @Field: Id: Data type identifier
// @Field: Value: Value
{
LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning),
"CTUN", "Qffffffefffhh", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DSAlt,SAlt,TAlt,DCRt,CRt", "s----mmmmmmnn", "F----00B000BB"
},
{
LOG_DATA_INT16_MSG, sizeof(log_Data_Int16t),
"D16", "QBh", "TimeUS,Id,Value", "s--", "F--"
},
{
LOG_DATA_UINT16_MSG, sizeof(log_Data_UInt16t),
"DU16", "QBH", "TimeUS,Id,Value", "s--", "F--"
},
{
LOG_DATA_INT32_MSG, sizeof(log_Data_Int32t),
"D32", "QBi", "TimeUS,Id,Value", "s--", "F--"
},
{
LOG_DATA_UINT32_MSG, sizeof(log_Data_UInt32t),
"DU32", "QBI", "TimeUS,Id,Value", "s--", "F--"
},
{
LOG_DATA_FLOAT_MSG, sizeof(log_Data_Float),
"DFLT", "QBf", "TimeUS,Id,Value", "s--", "F--"
},
};
void Blimp::Log_Write_Vehicle_Startup_Messages()
{
// only 200(?) bytes are guaranteed by AP_Logger
logger.Write_MessageF("Frame: %s", get_frame_string());
logger.Write_Mode((uint8_t)control_mode, control_mode_reason);
ahrs.Log_Write_Home_And_Origin();
gps.Write_AP_Logger_Log_Startup_messages();
}
void Blimp::log_init(void)
{
logger.Init(log_structure, ARRAY_SIZE(log_structure));
}
#else // LOGGING_ENABLED
void Blimp::Log_Write_Performance() {}
void Blimp::Log_Write_Attitude(void) {}
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void Blimp::Log_Write_PIDs(void) {}
void Blimp::Log_Write_EKF_POS() {}
void Blimp::Log_Write_Data(LogDataID id, int32_t value) {}
void Blimp::Log_Write_Data(LogDataID id, uint32_t value) {}
void Blimp::Log_Write_Data(LogDataID id, int16_t value) {}
void Blimp::Log_Write_Data(LogDataID id, uint16_t value) {}
void Blimp::Log_Write_Data(LogDataID id, float value) {}
void Blimp::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max) {}
void Blimp::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
void Blimp::Log_Write_Vehicle_Startup_Messages() {}
void Blimp::log_init(void) {}
#endif // LOGGING_ENABLED