mirror of https://github.com/ArduPilot/ardupilot
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
parent
02ab5bea78
commit
357a9ba017
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@ -249,9 +249,9 @@ static const char* flight_mode_strings[] = {
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// test
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#if ACCEL_ALT_HOLD == 1
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Vector3f accels_rot;
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static int accels_rot_count;
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static float accels_rot_sum;
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static float alt_hold_gain = ACCEL_ALT_HOLD_GAIN;
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static int accels_rot_count;
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static float accels_rot_sum;
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static float alt_hold_gain = ACCEL_ALT_HOLD_GAIN;
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#endif
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// temp
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@ -535,7 +535,7 @@ void loop()
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counter_one_herz = 0;
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}
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if (millis() - perf_mon_timer > 20000) {
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if (millis() - perf_mon_timer > 1200 /*20000*/) {
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if (g.log_bitmask & MASK_LOG_PM)
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Log_Write_Performance();
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@ -474,10 +474,54 @@ static void Log_Write_Motors()
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DataFlash.WriteByte(HEAD_BYTE2);
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DataFlash.WriteByte(LOG_MOTORS_MSG);
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DataFlash.WriteInt(motor_out[CH_1]);
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DataFlash.WriteInt(motor_out[CH_2]);
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DataFlash.WriteInt(motor_out[CH_3]);
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DataFlash.WriteInt(motor_out[CH_4]);
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#if FRAME_CONFIG == TRI_FRAME
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DataFlash.WriteInt(motor_out[CH_1]);//1
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DataFlash.WriteInt(motor_out[CH_2]);//2
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DataFlash.WriteInt(motor_out[CH_4]);//3
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DataFlash.WriteInt(g.rc_4.radio_out);//4
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#elif FRAME_CONFIG == HEXA_FRAME
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DataFlash.WriteInt(motor_out[CH_1]);//1
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DataFlash.WriteInt(motor_out[CH_2]);//2
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DataFlash.WriteInt(motor_out[CH_3]);//3
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DataFlash.WriteInt(motor_out[CH_4]);//4
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DataFlash.WriteInt(motor_out[CH_7]);//5
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DataFlash.WriteInt(motor_out[CH_8]);//6
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#elif FRAME_CONFIG == Y6_FRAME
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//left
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DataFlash.WriteInt(motor_out[CH_2]);//1
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DataFlash.WriteInt(motor_out[CH_3]);//2
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//right
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DataFlash.WriteInt(motor_out[CH_7]);//3
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DataFlash.WriteInt(motor_out[CH_1]);//4
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//back
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DataFlash.WriteInt(motor_out[CH_8]);//5
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DataFlash.WriteInt(motor_out[CH_4]);//6
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#elif FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME
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DataFlash.WriteInt(motor_out[CH_1]);//1
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DataFlash.WriteInt(motor_out[CH_2]);//2
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DataFlash.WriteInt(motor_out[CH_3]);//3
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DataFlash.WriteInt(motor_out[CH_4]);//4
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DataFlash.WriteInt(motor_out[CH_7]);//5
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DataFlash.WriteInt(motor_out[CH_8]); //6
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DataFlash.WriteInt(motor_out[CH_10]);//7
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DataFlash.WriteInt(motor_out[CH_11]);//8
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#elif FRAME_CONFIG == HELI_FRAME
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DataFlash.WriteInt(heli_servo_out[0]);//1
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DataFlash.WriteInt(heli_servo_out[1]);//2
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DataFlash.WriteInt(heli_servo_out[2]);//3
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DataFlash.WriteInt(heli_servo_out[3]);//4
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DataFlash.WriteInt(g.heli_ext_gyro_gain);//5
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#else // quads
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DataFlash.WriteInt(motor_out[CH_1]);//1
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DataFlash.WriteInt(motor_out[CH_2]);//2
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DataFlash.WriteInt(motor_out[CH_3]);//3
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DataFlash.WriteInt(motor_out[CH_4]);//4
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#endif
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DataFlash.WriteByte(END_BYTE);
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}
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@ -485,11 +529,46 @@ static void Log_Write_Motors()
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// Read a Current packet
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static void Log_Read_Motors()
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{
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#if FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME
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// 1 2 3 4 5 6
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Serial.printf_P(PSTR("MOT: %d, %d, %d, %d, %d, %d\n"),
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DataFlash.ReadInt(), //1
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DataFlash.ReadInt(), //2
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DataFlash.ReadInt(), //3
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DataFlash.ReadInt(), //4
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DataFlash.ReadInt(), //5
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DataFlash.ReadInt()); //6
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#elif FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME
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// 1 2 3 4 5 6 7 8
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Serial.printf_P(PSTR("MOT: %d, %d, %d, %d, %d, %d, %d, %d\n"),
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DataFlash.ReadInt(), //1
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DataFlash.ReadInt(), //2
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DataFlash.ReadInt(), //3
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DataFlash.ReadInt(), //4
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DataFlash.ReadInt(), //5
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DataFlash.ReadInt(), //6
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DataFlash.ReadInt(), //7
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DataFlash.ReadInt()); //8
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#elif FRAME_CONFIG == HELI_FRAME
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// 1 2 3 4 5
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Serial.printf_P(PSTR("MOT: %d, %d, %d, %d, %d\n"),
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DataFlash.ReadInt(), //1
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DataFlash.ReadInt(), //2
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DataFlash.ReadInt(), //3
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DataFlash.ReadInt(), //4
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DataFlash.ReadInt()); //5
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#else // quads, TRIs
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// 1 2 3 4
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Serial.printf_P(PSTR("MOT: %d, %d, %d, %d\n"),
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DataFlash.ReadInt(),
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DataFlash.ReadInt(),
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DataFlash.ReadInt(),
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DataFlash.ReadInt());
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DataFlash.ReadInt(), //1
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DataFlash.ReadInt(), //2
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DataFlash.ReadInt(), //3
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DataFlash.ReadInt()); //4;
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#endif
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}
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#ifdef OPTFLOW_ENABLED
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@ -601,8 +680,9 @@ static void Log_Write_Control_Tuning()
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DataFlash.WriteByte(HEAD_BYTE2);
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DataFlash.WriteByte(LOG_CONTROL_TUNING_MSG);
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// yaw
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DataFlash.WriteInt((int)(dcm.yaw_sensor/100)); //1
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DataFlash.WriteInt((int)(dcm.yaw_sensor/100)); //2
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DataFlash.WriteInt((int)(nav_yaw/100)); //2
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DataFlash.WriteInt((int)yaw_error/100); //3
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@ -627,7 +707,7 @@ static void Log_Read_Control_Tuning()
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"%d, %d\n"),
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// Control
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//DataFlash.ReadInt(),
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//DataFlash.ReadByte(),
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//DataFlash.ReadInt(),
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// yaw
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@ -658,37 +738,42 @@ static void Log_Write_Performance()
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//*
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//DataFlash.WriteLong( millis()- perf_mon_timer);
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DataFlash.WriteByte( dcm.gyro_sat_count); //2
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DataFlash.WriteByte( imu.adc_constraints); //3
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DataFlash.WriteByte( dcm.renorm_sqrt_count); //4
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DataFlash.WriteByte( dcm.renorm_blowup_count); //5
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DataFlash.WriteByte( gps_fix_count); //6
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//DataFlash.WriteByte( dcm.gyro_sat_count); //2
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//DataFlash.WriteByte( imu.adc_constraints); //3
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//DataFlash.WriteByte( dcm.renorm_sqrt_count); //4
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//DataFlash.WriteByte( dcm.renorm_blowup_count); //5
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//DataFlash.WriteByte( gps_fix_count); //6
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DataFlash.WriteInt ( (int)(dcm.get_health() * 1000)); //7
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DataFlash.WriteLong ( throttle_integrator); //8
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//DataFlash.WriteInt ( (int)(dcm.get_health() * 1000)); //7
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// control_mode
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DataFlash.WriteByte(control_mode); //1
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DataFlash.WriteByte(yaw_mode); //2
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DataFlash.WriteByte(roll_pitch_mode); //3
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DataFlash.WriteByte(throttle_mode); //4
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DataFlash.WriteInt(g.throttle_cruise.get()); //5
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DataFlash.WriteLong(throttle_integrator); //6
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DataFlash.WriteByte(END_BYTE);
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}
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// Read a performance packet
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static void Log_Read_Performance()
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{
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Serial.printf_P(PSTR( "PM, %d, %d, "
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"%d, %d, %d, "
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"%d, %ld\n"),
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{ //1 2 3 4 5 6
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Serial.printf_P(PSTR( "PM, %d, %d, %d, %d, %d, %ld\n"),
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// Control
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//DataFlash.ReadLong(),
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//DataFlash.ReadInt(),
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DataFlash.ReadByte(), //1
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DataFlash.ReadByte(), //2
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DataFlash.ReadByte(), //3
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DataFlash.ReadByte(), //4
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DataFlash.ReadByte(), //5
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DataFlash.ReadByte(), //6
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DataFlash.ReadInt(), //7
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DataFlash.ReadLong()); //8
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DataFlash.ReadInt(), //5
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DataFlash.ReadLong()); //6
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}
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// Write a command processing packet.
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