AC_AttitudeControl: move logging of PSC messages into AC_AttitudeControl

libraries/AC_AttitudeControl/AC_PosControl.cpp

@@ -1167,16 +1167,16 @@ void AC_PosControl::write_log()
     if (is_active_xy()) {
         float accel_x, accel_y;
         lean_angles_to_accel_xy(accel_x, accel_y);
-        AP::logger().Write_PSCN(get_pos_target_cm().x, _inav.get_position_neu_cm().x,
+        Write_PSCN(get_pos_target_cm().x, _inav.get_position_neu_cm().x,
                                 get_vel_desired_cms().x, get_vel_target_cms().x, _inav.get_velocity_neu_cms().x,
                                 _accel_desired.x, get_accel_target_cmss().x, accel_x);
-        AP::logger().Write_PSCE(get_pos_target_cm().y, _inav.get_position_neu_cm().y,
+        Write_PSCE(get_pos_target_cm().y, _inav.get_position_neu_cm().y,
                                 get_vel_desired_cms().y, get_vel_target_cms().y, _inav.get_velocity_neu_cms().y,
                                 _accel_desired.y, get_accel_target_cmss().y, accel_y);
     }
 
     if (is_active_z()) {
-        AP::logger().Write_PSCD(-get_pos_target_cm().z, -_inav.get_position_z_up_cm(),
+        Write_PSCD(-get_pos_target_cm().z, -_inav.get_position_z_up_cm(),
                                 -get_vel_desired_cms().z, -get_vel_target_cms().z, -_inav.get_velocity_z_up_cms(),
                                 -_accel_desired.z, -get_accel_target_cmss().z, -get_z_accel_cmss());
     }

libraries/AC_AttitudeControl/AC_PosControl.h

@@ -13,6 +13,8 @@
 #include <AP_InertialNav/AP_InertialNav.h>  // Inertial Navigation library
 #include "AC_AttitudeControl.h"     // Attitude control library
 
+#include <AP_Logger/LogStructure.h>
+
 // position controller default definitions
 #define POSCONTROL_ACCEL_XY                     100.0f  // default horizontal acceleration in cm/s/s.  This is overwritten by waypoint and loiter controllers
 #define POSCONTROL_JERK_XY                      5.0f    // default horizontal jerk m/s/s/s
@@ -484,4 +486,14 @@ protected:
 
     // return true if on a real vehicle or SITL with lock-step scheduling
     bool has_good_timing(void) const;
+
+    void Write_PSCN(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel);
+    void Write_PSCE(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel);
+    void Write_PSCD(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel);
+
+private:
+    // convenience method for writing out the identical PSCE, PSCN, PSCD - and
+    // to save bytes
+    void Write_PSCx(LogMessages ID, float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel);
+
 };

libraries/AC_AttitudeControl/AC_PosControl_Logging.cpp

@@ -0,0 +1,43 @@
+#include <AP_Logger/AP_Logger_config.h>
+
+#if HAL_LOGGING_ENABLED
+
+#include "AC_PosControl.h"
+
+#include <AP_Logger/AP_Logger.h>
+#include "LogStructure.h"
+
+// a convenience function for writing out the position controller PIDs
+void AC_PosControl::Write_PSCx(LogMessages id, float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel)
+{
+    const struct log_PSCx pkt{
+        LOG_PACKET_HEADER_INIT(id),
+            time_us         : AP_HAL::micros64(),
+            pos_target    : pos_target * 0.01f,
+            pos           : pos * 0.01f,
+            vel_desired   : vel_desired * 0.01f,
+            vel_target    : vel_target * 0.01f,
+            vel           : vel * 0.01f,
+            accel_desired : accel_desired * 0.01f,
+            accel_target  : accel_target * 0.01f,
+            accel         : accel * 0.01f
+    };
+    AP::logger().WriteBlock(&pkt, sizeof(pkt));
+}
+
+void AC_PosControl::Write_PSCN(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel)
+{
+    Write_PSCx(LOG_PSCN_MSG, pos_target, pos, vel_desired, vel_target, vel, accel_desired, accel_target, accel);
+}
+
+void AC_PosControl::Write_PSCE(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel)
+{
+    Write_PSCx(LOG_PSCE_MSG, pos_target, pos, vel_desired, vel_target, vel, accel_desired, accel_target, accel);
+}
+
+void AC_PosControl::Write_PSCD(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel)
+{
+    Write_PSCx(LOG_PSCD_MSG, pos_target, pos, vel_desired, vel_target, vel, accel_desired, accel_target, accel);
+}
+
+#endif  // HAL_LOGGING_ENABLED

libraries/AC_AttitudeControl/LogStructure.h

@@ -0,0 +1,71 @@
+#pragma once
+
+#include <AP_Logger/LogStructure.h>
+
+#define LOG_IDS_FROM_AC_ATTITUDECONTROL \
+    LOG_PSCN_MSG, \
+    LOG_PSCE_MSG, \
+    LOG_PSCD_MSG
+
+// @LoggerMessage: PSCN
+// @Description: Position Control North
+// @Field: TimeUS: Time since system startup
+// @Field: TPN: Target position relative to EKF origin
+// @Field: PN: Position relative to EKF origin
+// @Field: DVN: Desired velocity North
+// @Field: TVN: Target velocity North
+// @Field: VN: Velocity North
+// @Field: DAN: Desired acceleration North
+// @Field: TAN: Target acceleration North
+// @Field: AN: Acceleration North
+
+// @LoggerMessage: PSCE
+// @Description: Position Control East
+// @Field: TimeUS: Time since system startup
+// @Field: TPE: Target position relative to EKF origin
+// @Field: PE: Position relative to EKF origin
+// @Field: DVE: Desired velocity East
+// @Field: TVE: Target velocity East
+// @Field: VE: Velocity East
+// @Field: DAE: Desired acceleration East
+// @Field: TAE: Target acceleration East
+// @Field: AE: Acceleration East
+
+// @LoggerMessage: PSCD
+// @Description: Position Control Down
+// @Field: TimeUS: Time since system startup
+// @Field: TPD: Target position relative to EKF origin
+// @Field: PD: Position relative to EKF origin
+// @Field: DVD: Desired velocity Down
+// @Field: TVD: Target velocity Down
+// @Field: VD: Velocity Down
+// @Field: DAD: Desired acceleration Down
+// @Field: TAD: Target acceleration Down
+// @Field: AD: Acceleration Down
+
+
+// position controller per-axis logging
+struct PACKED log_PSCx {
+    LOG_PACKET_HEADER;
+    uint64_t time_us;
+    float pos_target;
+    float pos;
+    float vel_desired;
+    float vel_target;
+    float vel;
+    float accel_desired;
+    float accel_target;
+    float accel;
+};
+
+#define PSCx_FMT "Qffffffff"
+#define PSCx_UNITS "smmnnnooo"
+#define PSCx_MULTS "F00000000"
+
+#define LOG_STRUCTURE_FROM_AC_ATTITUDECONTROL        \
+    { LOG_PSCN_MSG, sizeof(log_PSCx), \
+      "PSCN", PSCx_FMT, "TimeUS,TPN,PN,DVN,TVN,VN,DAN,TAN,AN", PSCx_UNITS, PSCx_MULTS }, \
+    { LOG_PSCE_MSG, sizeof(log_PSCx), \
+      "PSCE", PSCx_FMT, "TimeUS,TPE,PE,DVE,TVE,VE,DAE,TAE,AE", PSCx_UNITS, PSCx_MULTS }, \
+    { LOG_PSCD_MSG, sizeof(log_PSCx), \
+      "PSCD", PSCx_FMT, "TimeUS,TPD,PD,DVD,TVD,VD,DAD,TAD,AD", PSCx_UNITS, PSCx_MULTS }