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Rover: Added throttle PID logging

This commit is contained in:
Grant Morphett 2016-05-30 09:44:23 +10:00 committed by Andrew Tridgell
parent abe850c397
commit 35a132f74e
3 changed files with 25 additions and 9 deletions
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26
APMrover2/GCS_Mavlink.cpp
View File

@ -363,15 +363,29 @@ void Rover::send_rangefinder(mavlink_channel_t chan)
void Rover::send_pid_tuning(mavlink_channel_t chan) void Rover::send_pid_tuning(mavlink_channel_t chan)
{ {
const Vector3f &gyro = ahrs.get_gyro(); const Vector3f &gyro = ahrs.get_gyro();
const DataFlash_Class::PID_Info *pid_info;
if (g.gcs_pid_mask & 1) { if (g.gcs_pid_mask & 1) {
const DataFlash_Class::PID_Info &pid_info = steerController.get_pid_info(); pid_info = &steerController.get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_STEER, mavlink_msg_pid_tuning_send(chan, PID_TUNING_STEER,
pid_info.desired, pid_info->desired,
degrees(gyro.z), degrees(gyro.z),
pid_info.FF, pid_info->FF,
pid_info.P, pid_info->P,
pid_info.I, pid_info->I,
pid_info.D); pid_info->D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
if (g.gcs_pid_mask & 2) {
pid_info = &g.pidSpeedThrottle.get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ,
pid_info->desired,
0,
0,
pid_info->P,
pid_info->I,
pid_info->D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) { if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return; return;
} }

4
APMrover2/Log.cpp
View File

@ -293,7 +293,9 @@ void Rover::Log_Write_Attitude()
#endif #endif
DataFlash.Log_Write_POS(ahrs); DataFlash.Log_Write_POS(ahrs);
DataFlash.Log_Write_PID(LOG_PIDY_MSG, steerController.get_pid_info()); DataFlash.Log_Write_PID(LOG_PIDS_MSG, steerController.get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDA_MSG, g.pidSpeedThrottle.get_pid_info());
} }
struct PACKED log_Sonar { struct PACKED log_Sonar {

4
APMrover2/Parameters.cpp
View File

@ -88,8 +88,8 @@ const AP_Param::Info Rover::var_info[] = {
// @DisplayName: GCS PID tuning mask // @DisplayName: GCS PID tuning mask
// @Description: bitmask of PIDs to send MAVLink PID_TUNING messages for // @Description: bitmask of PIDs to send MAVLink PID_TUNING messages for
// @User: Advanced // @User: Advanced
// @Values: 0:None,1:Steering // @Values: 0:None,1:Steering,2:Throttle
// @Bitmask: 0:Steering // @Bitmask: 0:Steering,1:Throttle
GSCALAR(gcs_pid_mask, "GCS_PID_MASK", 0), GSCALAR(gcs_pid_mask, "GCS_PID_MASK", 0),
// @Param: MAG_ENABLED // @Param: MAG_ENABLED