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AP_TECS: log SKE weight since both weights are now [0,1]

This commit is contained in:
Mark Agate 2023-10-17 10:37:32 -05:00 committed by Andrew Tridgell
parent 04564882fa
commit 31bc321b70
1 changed files with 22 additions and 2 deletions
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24
libraries/AP_TECS/AP_TECS.cpp
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@ -1050,10 +1050,30 @@ void AP_TECS::_update_pitch(void)
_last_pitch_dem = _pitch_dem; _last_pitch_dem = _pitch_dem;
if (AP::logger().should_log(_log_bitmask)){ if (AP::logger().should_log(_log_bitmask)){
AP::logger().WriteStreaming("TEC2","TimeUS,PEW,EBD,EBE,EBDD,EBDE,EBDDT,Imin,Imax,I,KI,pmin,pmax", // log to AP_Logger
"Qffffffffffff", // @LoggerMessage: TEC2
// @Vehicles: Plane
// @Description: Additional information about the Total Energy Control System
// @URL: http://ardupilot.org/plane/docs/tecs-total-energy-control-system-for-speed-height-tuning-guide.html
// @Field: TimeUS: Time since system startup
// @Field: PEW: Potential energy weighting
// @Field: KEW: Kinetic energy weighting
// @Field: EBD: Energy balance demand
// @Field: EBE: Energy balance error
// @Field: EBDD: Energy balance rate demand
// @Field: EBDE: Energy balance rate error
// @Field: EBDDT: Energy balance rate demand + Energy balance rate error*pitch_damping
// @Field: Imin: Minimum integrator value
// @Field: Imax: Maximum integrator value
// @Field: I: Energy balance error integral
// @Field: KI: Pitch demand kinetic energy integral
// @Field: pmin: Pitch min
// @Field: pmax: Pitch max
AP::logger().WriteStreaming("TEC2","TimeUS,PEW,KEW,EBD,EBE,EBDD,EBDE,EBDDT,Imin,Imax,I,KI,pmin,pmax",
"Qfffffffffffff",
AP_HAL::micros64(), AP_HAL::micros64(),
(double)SPE_weighting, (double)SPE_weighting,
(double)_SKE_weighting,
(double)SEB_dem, (double)SEB_dem,
(double)SEB_est, (double)SEB_est,
(double)SEBdot_dem, (double)SEBdot_dem,