Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Log updates 

Added motor logging for different frame types. Switched the PM log to some new debugging values and speed up the writing of the value to the logs.
This commit is contained in:
Jason Short 2011-10-27 22:36:25 -07:00
parent 02ab5bea78
commit 357a9ba017
2 changed files with 116 additions and 31 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/ArduCopter.pde
View File

@ -535,7 +535,7 @@ void loop()
counter_one_herz = 0;
}
if (millis() - perf_mon_timer > 20000) {
if (millis() - perf_mon_timer > 1200 /*20000*/) {
if (g.log_bitmask & MASK_LOG_PM)
Log_Write_Performance();

139
ArduCopter/Log.pde
View File

@ -474,10 +474,54 @@ static void Log_Write_Motors()
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_MOTORS_MSG);
DataFlash.WriteInt(motor_out[CH_1]);
DataFlash.WriteInt(motor_out[CH_2]);
DataFlash.WriteInt(motor_out[CH_3]);
DataFlash.WriteInt(motor_out[CH_4]);
#if FRAME_CONFIG == TRI_FRAME
DataFlash.WriteInt(motor_out[CH_1]);//1
DataFlash.WriteInt(motor_out[CH_2]);//2
DataFlash.WriteInt(motor_out[CH_4]);//3
DataFlash.WriteInt(g.rc_4.radio_out);//4
#elif FRAME_CONFIG == HEXA_FRAME
DataFlash.WriteInt(motor_out[CH_1]);//1
DataFlash.WriteInt(motor_out[CH_2]);//2
DataFlash.WriteInt(motor_out[CH_3]);//3
DataFlash.WriteInt(motor_out[CH_4]);//4
DataFlash.WriteInt(motor_out[CH_7]);//5
DataFlash.WriteInt(motor_out[CH_8]);//6
#elif FRAME_CONFIG == Y6_FRAME
//left
DataFlash.WriteInt(motor_out[CH_2]);//1
DataFlash.WriteInt(motor_out[CH_3]);//2
//right
DataFlash.WriteInt(motor_out[CH_7]);//3
DataFlash.WriteInt(motor_out[CH_1]);//4
//back
DataFlash.WriteInt(motor_out[CH_8]);//5
DataFlash.WriteInt(motor_out[CH_4]);//6
#elif FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME
DataFlash.WriteInt(motor_out[CH_1]);//1
DataFlash.WriteInt(motor_out[CH_2]);//2
DataFlash.WriteInt(motor_out[CH_3]);//3
DataFlash.WriteInt(motor_out[CH_4]);//4
DataFlash.WriteInt(motor_out[CH_7]);//5
DataFlash.WriteInt(motor_out[CH_8]); //6
DataFlash.WriteInt(motor_out[CH_10]);//7
DataFlash.WriteInt(motor_out[CH_11]);//8
#elif FRAME_CONFIG == HELI_FRAME
DataFlash.WriteInt(heli_servo_out[0]);//1
DataFlash.WriteInt(heli_servo_out[1]);//2
DataFlash.WriteInt(heli_servo_out[2]);//3
DataFlash.WriteInt(heli_servo_out[3]);//4
DataFlash.WriteInt(g.heli_ext_gyro_gain);//5
#else // quads
DataFlash.WriteInt(motor_out[CH_1]);//1
DataFlash.WriteInt(motor_out[CH_2]);//2
DataFlash.WriteInt(motor_out[CH_3]);//3
DataFlash.WriteInt(motor_out[CH_4]);//4
#endif
DataFlash.WriteByte(END_BYTE);
}
@ -485,11 +529,46 @@ static void Log_Write_Motors()
// Read a Current packet
static void Log_Read_Motors()
{
#if FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME
// 1 2 3 4 5 6
Serial.printf_P(PSTR("MOT: %d, %d, %d, %d, %d, %d\n"),
DataFlash.ReadInt(), //1
DataFlash.ReadInt(), //2
DataFlash.ReadInt(), //3
DataFlash.ReadInt(), //4
DataFlash.ReadInt(), //5
DataFlash.ReadInt()); //6
#elif FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME
// 1 2 3 4 5 6 7 8
Serial.printf_P(PSTR("MOT: %d, %d, %d, %d, %d, %d, %d, %d\n"),
DataFlash.ReadInt(), //1
DataFlash.ReadInt(), //2
DataFlash.ReadInt(), //3
DataFlash.ReadInt(), //4
DataFlash.ReadInt(), //5
DataFlash.ReadInt(), //6
DataFlash.ReadInt(), //7
DataFlash.ReadInt()); //8
#elif FRAME_CONFIG == HELI_FRAME
// 1 2 3 4 5
Serial.printf_P(PSTR("MOT: %d, %d, %d, %d, %d\n"),
DataFlash.ReadInt(), //1
DataFlash.ReadInt(), //2
DataFlash.ReadInt(), //3
DataFlash.ReadInt(), //4
DataFlash.ReadInt()); //5
#else // quads, TRIs
// 1 2 3 4
Serial.printf_P(PSTR("MOT: %d, %d, %d, %d\n"),
DataFlash.ReadInt(),
DataFlash.ReadInt(),
DataFlash.ReadInt(),
DataFlash.ReadInt());
DataFlash.ReadInt(), //1
DataFlash.ReadInt(), //2
DataFlash.ReadInt(), //3
DataFlash.ReadInt()); //4;
#endif
}
#ifdef OPTFLOW_ENABLED
@ -601,8 +680,9 @@ static void Log_Write_Control_Tuning()
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_CONTROL_TUNING_MSG);
// yaw
DataFlash.WriteInt((int)(dcm.yaw_sensor/100)); //1
DataFlash.WriteInt((int)(dcm.yaw_sensor/100)); //2
DataFlash.WriteInt((int)(nav_yaw/100)); //2
DataFlash.WriteInt((int)yaw_error/100); //3
@ -627,7 +707,7 @@ static void Log_Read_Control_Tuning()
"%d, %d\n"),
// Control
//DataFlash.ReadInt(),
//DataFlash.ReadByte(),
//DataFlash.ReadInt(),
// yaw
@ -658,37 +738,42 @@ static void Log_Write_Performance()
//*
//DataFlash.WriteLong( millis()- perf_mon_timer);
DataFlash.WriteByte( dcm.gyro_sat_count); //2
DataFlash.WriteByte( imu.adc_constraints); //3
DataFlash.WriteByte( dcm.renorm_sqrt_count); //4
DataFlash.WriteByte( dcm.renorm_blowup_count); //5
DataFlash.WriteByte( gps_fix_count); //6
//DataFlash.WriteByte( dcm.gyro_sat_count); //2
//DataFlash.WriteByte( imu.adc_constraints); //3
//DataFlash.WriteByte( dcm.renorm_sqrt_count); //4
//DataFlash.WriteByte( dcm.renorm_blowup_count); //5
//DataFlash.WriteByte( gps_fix_count); //6
DataFlash.WriteInt ( (int)(dcm.get_health() * 1000)); //7
DataFlash.WriteLong ( throttle_integrator); //8
//DataFlash.WriteInt ( (int)(dcm.get_health() * 1000)); //7
// control_mode
DataFlash.WriteByte(control_mode); //1
DataFlash.WriteByte(yaw_mode); //2
DataFlash.WriteByte(roll_pitch_mode); //3
DataFlash.WriteByte(throttle_mode); //4
DataFlash.WriteInt(g.throttle_cruise.get()); //5
DataFlash.WriteLong(throttle_integrator); //6
DataFlash.WriteByte(END_BYTE);
}
// Read a performance packet
static void Log_Read_Performance()
{
Serial.printf_P(PSTR( "PM, %d, %d, "
"%d, %d, %d, "
"%d, %ld\n"),
{ //1 2 3 4 5 6
Serial.printf_P(PSTR( "PM, %d, %d, %d, %d, %d, %ld\n"),
// Control
//DataFlash.ReadLong(),
//DataFlash.ReadInt(),
DataFlash.ReadByte(), //1
DataFlash.ReadByte(), //2
DataFlash.ReadByte(), //3
DataFlash.ReadByte(), //4
DataFlash.ReadByte(), //5
DataFlash.ReadByte(), //6
DataFlash.ReadInt(), //7
DataFlash.ReadLong()); //8
DataFlash.ReadInt(), //5
DataFlash.ReadLong()); //6
}
// Write a command processing packet.