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Copter:Logging TradHeli - add governor output and throttle logging for heli governor

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This commit is contained in:
ChristopherOlson 2018-12-08 20:57:47 -06:00 committed by Randy Mackay
parent 8312dcae5d
commit 2f7d198196
1 changed files with 5 additions and 1 deletions
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6
ArduCopter/Log.cpp
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@ -280,6 +280,8 @@ struct PACKED log_Heli {
uint64_t time_us;
float desired_rotor_speed;
float main_rotor_speed;
float governor_output;
float control_output;
};
#if FRAME_CONFIG == HELI_FRAME
@ -291,6 +293,8 @@ void Copter::Log_Write_Heli()
time_us : AP_HAL::micros64(),
desired_rotor_speed : motors->get_desired_rotor_speed(),
main_rotor_speed : motors->get_main_rotor_speed(),
governor_output : motors->get_governor_output(),
control_output : motors->get_control_output(),
};
logger.WriteBlock(&pkt_heli, sizeof(pkt_heli));
}
@ -403,7 +407,7 @@ const struct LogStructure Copter::log_structure[] = {
"DFLT", "QBf", "TimeUS,Id,Value", "s--", "F--" },
#if FRAME_CONFIG == HELI_FRAME
{ LOG_HELI_MSG, sizeof(log_Heli),
"HELI", "Qff", "TimeUS,DRRPM,ERRPM", "s--", "F--" },
"HELI", "Qffff", "TimeUS,DRRPM,ERRPM,Gov,Throt", "s----", "F----" },
#endif
#if PRECISION_LANDING == ENABLED
{ LOG_PRECLAND_MSG, sizeof(log_Precland),