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Copter: moved Log_Write_Rate() to common code

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This commit is contained in:
Andrew Tridgell 2016-03-25 12:11:33 +11:00
parent 075dd49afe
commit 31000ac756
5 changed files with 3 additions and 49 deletions
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4
ArduCopter/ArduCopter.cpp
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@ -381,7 +381,7 @@ void Copter::ten_hz_logging_loop()
// log attitude data if we're not already logging at the higher rate
if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) {
Log_Write_Attitude();
Log_Write_Rate();
DataFlash.Log_Write_Rate(ahrs, motors, attitude_control, pos_control);
if (should_log(MASK_LOG_PID)) {
DataFlash.Log_Write_PID(LOG_PIDR_MSG, g.pid_rate_roll.get_pid_info() );
DataFlash.Log_Write_PID(LOG_PIDP_MSG, g.pid_rate_pitch.get_pid_info() );
@ -424,7 +424,7 @@ void Copter::fifty_hz_logging_loop()
#if HIL_MODE == HIL_MODE_DISABLED
if (should_log(MASK_LOG_ATTITUDE_FAST)) {
Log_Write_Attitude();
Log_Write_Rate();
DataFlash.Log_Write_Rate(ahrs, motors, attitude_control, pos_control);
if (should_log(MASK_LOG_PID)) {
DataFlash.Log_Write_PID(LOG_PIDR_MSG, g.pid_rate_roll.get_pid_info() );
DataFlash.Log_Write_PID(LOG_PIDP_MSG, g.pid_rate_pitch.get_pid_info() );

1
ArduCopter/Copter.h
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@ -652,7 +652,6 @@ private:
void Log_Write_Control_Tuning();
void Log_Write_Performance();
void Log_Write_Attitude();
void Log_Write_Rate();
void Log_Write_MotBatt();
void Log_Write_Startup();
void Log_Write_Event(uint8_t id);

44
ArduCopter/Log.cpp
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@ -376,47 +376,6 @@ void Copter::Log_Write_Attitude()
DataFlash.Log_Write_POS(ahrs);
}
struct PACKED log_Rate {
LOG_PACKET_HEADER;
uint64_t time_us;
float control_roll;
float roll;
float roll_out;
float control_pitch;
float pitch;
float pitch_out;
float control_yaw;
float yaw;
float yaw_out;
float control_accel;
float accel;
float accel_out;
};
// Write an rate packet
void Copter::Log_Write_Rate()
{
const Vector3f &rate_targets = attitude_control.rate_bf_targets();
const Vector3f &accel_target = pos_control.get_accel_target();
struct log_Rate pkt_rate = {
LOG_PACKET_HEADER_INIT(LOG_RATE_MSG),
time_us : AP_HAL::micros64(),
control_roll : (float)rate_targets.x,
roll : (float)(ahrs.get_gyro().x * AC_ATTITUDE_CONTROL_DEGX100),
roll_out : motors.get_roll(),
control_pitch : (float)rate_targets.y,
pitch : (float)(ahrs.get_gyro().y * AC_ATTITUDE_CONTROL_DEGX100),
pitch_out : motors.get_pitch(),
control_yaw : (float)rate_targets.z,
yaw : (float)(ahrs.get_gyro().z * AC_ATTITUDE_CONTROL_DEGX100),
yaw_out : motors.get_yaw(),
control_accel : (float)accel_target.z,
accel : (float)(-(ahrs.get_accel_ef_blended().z + GRAVITY_MSS) * 100.0f),
accel_out : motors.get_throttle()
};
DataFlash.WriteBlock(&pkt_rate, sizeof(pkt_rate));
}
struct PACKED log_MotBatt {
LOG_PACKET_HEADER;
uint64_t time_us;
@ -773,8 +732,6 @@ const struct LogStructure Copter::log_structure[] = {
"CTUN", "Qhhfffecchh", "TimeUS,ThrIn,AngBst,ThrOut,DAlt,Alt,BarAlt,DSAlt,SAlt,DCRt,CRt" },
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "QHHIhBH", "TimeUS,NLon,NLoop,MaxT,PMT,I2CErr,INSErr" },
{ LOG_RATE_MSG, sizeof(log_Rate),
"RATE", "Qffffffffffff", "TimeUS,RDes,R,ROut,PDes,P,POut,YDes,Y,YOut,ADes,A,AOut" },
{ LOG_MOTBATT_MSG, sizeof(log_MotBatt),
"MOTB", "Qffff", "TimeUS,LiftMax,BatVolt,BatRes,ThLimit" },
{ LOG_STARTUP_MSG, sizeof(log_Startup),
@ -878,7 +835,6 @@ void Copter::Log_Write_Nav_Tuning() {}
void Copter::Log_Write_Control_Tuning() {}
void Copter::Log_Write_Performance() {}
void Copter::Log_Write_Attitude(void) {}
void Copter::Log_Write_Rate() {}
void Copter::Log_Write_MotBatt() {}
void Copter::Log_Write_Startup() {}
void Copter::Log_Write_Event(uint8_t id) {}

2
ArduCopter/control_autotune.cpp
View File

@ -516,7 +516,7 @@ void Copter::autotune_attitude_control()
// log this iterations lean angle and rotation rate
Log_Write_AutoTuneDetails(lean_angle, rotation_rate);
Log_Write_Rate();
DataFlash.Log_Write_Rate(ahrs, motors, attitude_control, pos_control);
break;
case AUTOTUNE_STEP_UPDATE_GAINS:

1
ArduCopter/defines.h
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@ -260,7 +260,6 @@ enum ThrowModeState {
#define LOG_DATA_FLOAT_MSG 0x18
#define LOG_AUTOTUNE_MSG 0x19
#define LOG_AUTOTUNEDETAILS_MSG 0x1A
#define LOG_RATE_MSG 0x1D
#define LOG_MOTBATT_MSG 0x1E
#define LOG_PARAMTUNE_MSG 0x1F
#define LOG_HELI_MSG 0x20