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ATT tuning update

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This commit is contained in:
Jason Short 2012-01-30 20:57:44 -08:00
parent c181186690
commit 06d54bf0e8
1 changed files with 21 additions and 25 deletions
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46
ArduCopter/Log.pde
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@ -535,8 +535,8 @@ static void Log_Write_Nav_Tuning()
DataFlash.WriteInt(nav_lat); // 6
DataFlash.WriteInt(x_actual_speed); // 7
DataFlash.WriteInt(y_actual_speed); // 8
DataFlash.WriteInt(g.pi_loiter_lon.get_integrator()); // 9
DataFlash.WriteInt(g.pi_loiter_lat.get_integrator()); // 10
DataFlash.WriteInt(g.pid_nav_lon.get_integrator()); // 9
DataFlash.WriteInt(g.pid_nav_lat.get_integrator()); // 10
/*DataFlash.WriteInt(wp_distance); // 1
DataFlash.WriteInt(nav_bearing/100); // 2
@ -577,20 +577,17 @@ static void Log_Write_Control_Tuning()
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_CONTROL_TUNING_MSG);
DataFlash.WriteInt(g.rc_1.control_in); // 0
DataFlash.WriteInt(g.rc_2.control_in); // 1
DataFlash.WriteInt(g.rc_3.control_in); // 2
DataFlash.WriteInt(g.rc_4.control_in); // 3
DataFlash.WriteInt(sonar_alt); // 4
DataFlash.WriteInt(baro_alt); // 5
DataFlash.WriteInt(next_WP.alt); // 6
DataFlash.WriteInt(nav_throttle); // 7
DataFlash.WriteInt(angle_boost); // 8
DataFlash.WriteInt(manual_boost); // 9
DataFlash.WriteInt(climb_rate); // 10
DataFlash.WriteInt(g.rc_3.servo_out); // 11
DataFlash.WriteInt(g.pi_alt_hold.get_integrator()); // 12
DataFlash.WriteInt(g.pid_throttle.get_integrator()); // 13
DataFlash.WriteInt(g.rc_3.control_in); // 1
DataFlash.WriteInt(sonar_alt); // 2
DataFlash.WriteInt(baro_alt); // 3
DataFlash.WriteInt(next_WP.alt); // 4
DataFlash.WriteInt(nav_throttle); // 5
DataFlash.WriteInt(angle_boost); // 6
DataFlash.WriteInt(manual_boost); // 7
DataFlash.WriteInt(climb_rate); // 8
DataFlash.WriteInt(g.rc_3.servo_out); // 9
DataFlash.WriteInt(g.pi_alt_hold.get_integrator()); // 10
DataFlash.WriteInt(g.pid_throttle.get_integrator());// 11
DataFlash.WriteByte(END_BYTE);
}
@ -602,7 +599,7 @@ static void Log_Read_Control_Tuning()
Serial.printf_P(PSTR("CTUN, "));
for(int8_t i = 0; i < 13; i++ ){
for(int8_t i = 0; i < 11; i++ ){
temp = DataFlash.ReadInt();
Serial.printf("%d, ", temp);
}
@ -696,13 +693,12 @@ static void Log_Write_Attitude()
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_ATTITUDE_MSG);
DataFlash.WriteInt(g.rc_1.control_in); // 0
DataFlash.WriteInt((int)dcm.roll_sensor); // 1
DataFlash.WriteInt((int)dcm.pitch_sensor); // 2
DataFlash.WriteInt((uint16_t)dcm.yaw_sensor); // 3
DataFlash.WriteInt((int)g.rc_1.servo_out); // 4
DataFlash.WriteInt((int)g.rc_2.servo_out); // 5
DataFlash.WriteInt((int)g.rc_4.servo_out); // 6
DataFlash.WriteInt(g.rc_2.control_in); // 2
DataFlash.WriteInt((int)dcm.pitch_sensor); // 3
DataFlash.WriteInt(g.rc_4.control_in); // 4
DataFlash.WriteInt((uint16_t)dcm.yaw_sensor); // 5
DataFlash.WriteByte(END_BYTE);
}
@ -712,10 +708,10 @@ static void Log_Read_Attitude()
{
int16_t temp1 = DataFlash.ReadInt();
int16_t temp2 = DataFlash.ReadInt();
uint16_t temp3 = DataFlash.ReadInt();
int16_t temp3 = DataFlash.ReadInt();
int16_t temp4 = DataFlash.ReadInt();
int16_t temp5 = DataFlash.ReadInt();
int16_t temp6 = DataFlash.ReadInt();
uint16_t temp6 = DataFlash.ReadInt();
// 1 2 3 4 5 6
Serial.printf_P(PSTR("ATT, %d, %d, %u, %d, %d, %d\n"),