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Plane: log the AHRS error terms in dataflash

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also log raw IMU at 10Hz with default config
This commit is contained in:
Andrew Tridgell 2013-11-07 10:19:13 +11:00
parent 900ea5dde0
commit 1328bbf040
2 changed files with 9 additions and 2 deletions
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3
ArduPlane/ArduPlane.pde
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@ -893,6 +893,9 @@ static void update_logging(void)
{
if ((g.log_bitmask & MASK_LOG_ATTITUDE_MED) && !(g.log_bitmask & MASK_LOG_ATTITUDE_FAST))
Log_Write_Attitude();
if ((g.log_bitmask & MASK_LOG_ATTITUDE_MED) && !(g.log_bitmask & MASK_LOG_IMU))
Log_Write_IMU();
if (g.log_bitmask & MASK_LOG_CTUN)
Log_Write_Control_Tuning();

8
ArduPlane/Log.pde
View File

@ -166,6 +166,8 @@ struct PACKED log_Attitude {
int16_t roll;
int16_t pitch;
uint16_t yaw;
uint16_t error_rp;
uint16_t error_yaw;
};
// Write an attitude packet. Total length : 10 bytes
@ -176,7 +178,9 @@ static void Log_Write_Attitude(void)
time_ms : hal.scheduler->millis(),
roll : (int16_t)ahrs.roll_sensor,
pitch : (int16_t)ahrs.pitch_sensor,
yaw : (uint16_t)ahrs.yaw_sensor
yaw : (uint16_t)ahrs.yaw_sensor,
error_rp : (uint16_t)(ahrs.get_error_rp() * 100),
error_yaw : (uint16_t)(ahrs.get_error_yaw() * 100)
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
@ -450,7 +454,7 @@ static void Log_Write_IMU()
static const struct LogStructure log_structure[] PROGMEM = {
LOG_COMMON_STRUCTURES,
{ LOG_ATTITUDE_MSG, sizeof(log_Attitude),
"ATT", "IccC", "TimeMS,Roll,Pitch,Yaw" },
"ATT", "IccCCC", "TimeMS,Roll,Pitch,Yaw,ErrorRP,ErrorYaw" },
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "IHIBBBhhhB", "LTime,MLC,gDt,RNCnt,RNBl,GPScnt,GDx,GDy,GDz,I2CErr" },
{ LOG_CMD_MSG, sizeof(log_Cmd),