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Copter: add logging for CH6 parameter tuning

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Logs CH6 tuning values to a new PTUN log struct, specific to
APM::Copter at this point
This commit is contained in:
Andrew Chapman 2015-04-26 17:29:04 -07:00 committed by Randy Mackay
parent 2baf79ee7a
commit 4311cd4e7a
3 changed files with 30 additions and 0 deletions
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27
ArduCopter/Log.pde
View File

@ -597,6 +597,31 @@ static void Log_Write_Baro(void)
DataFlash.Log_Write_Baro(barometer); DataFlash.Log_Write_Baro(barometer);
} }
struct PACKED log_ParameterTuning {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint8_t parameter; // parameter we are tuning, e.g. 39 is CH6_CIRCLE_RATE
float tuning_value; // normalized value used inside tuning() function
int16_t control_in; // raw tune input value
int16_t tuning_low; // tuning low end value
int16_t tuning_high; // tuning high end value
};
static void Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t control_in, int16_t tune_low, int16_t tune_high)
{
struct log_ParameterTuning pkt_tune = {
LOG_PACKET_HEADER_INIT(LOG_PARAMTUNE_MSG),
time_ms : hal.scheduler->millis(),
parameter : param,
tuning_value : tuning_val,
control_in : control_in,
tuning_low : tune_low,
tuning_high : tune_high
};
DataFlash.WriteBlock(&pkt_tune, sizeof(pkt_tune));
}
static const struct LogStructure log_structure[] PROGMEM = { static const struct LogStructure log_structure[] PROGMEM = {
LOG_COMMON_STRUCTURES, LOG_COMMON_STRUCTURES,
#if AUTOTUNE_ENABLED == ENABLED #if AUTOTUNE_ENABLED == ENABLED
@ -605,6 +630,8 @@ static const struct LogStructure log_structure[] PROGMEM = {
{ LOG_AUTOTUNEDETAILS_MSG, sizeof(log_AutoTuneDetails), { LOG_AUTOTUNEDETAILS_MSG, sizeof(log_AutoTuneDetails),
"ATDE", "Iff", "TimeMS,Angle,Rate" }, "ATDE", "Iff", "TimeMS,Angle,Rate" },
#endif #endif
{ LOG_PARAMTUNE_MSG, sizeof(log_ParameterTuning),
"PTUN", "IBfHHH", "TimeMS,Param,TunVal,CtrlIn,TunLo,TunHi" },
{ LOG_OPTFLOW_MSG, sizeof(log_Optflow), { LOG_OPTFLOW_MSG, sizeof(log_Optflow),
"OF", "IBffff", "TimeMS,Qual,flowX,flowY,bodyX,bodyY" }, "OF", "IBffff", "TimeMS,Qual,flowX,flowY,bodyX,bodyY" },
{ LOG_NAV_TUNING_MSG, sizeof(log_Nav_Tuning), { LOG_NAV_TUNING_MSG, sizeof(log_Nav_Tuning),

1
ArduCopter/defines.h
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@ -243,6 +243,7 @@ enum FlipState {
#define LOG_AUTOTUNEDETAILS_MSG 0x1A #define LOG_AUTOTUNEDETAILS_MSG 0x1A
#define LOG_RATE_MSG 0x1D #define LOG_RATE_MSG 0x1D
#define LOG_MOTBATT_MSG 0x1E #define LOG_MOTBATT_MSG 0x1E
#define LOG_PARAMTUNE_MSG 0x1F
#define MASK_LOG_ATTITUDE_FAST (1<<0) #define MASK_LOG_ATTITUDE_FAST (1<<0)
#define MASK_LOG_ATTITUDE_MED (1<<1) #define MASK_LOG_ATTITUDE_MED (1<<1)

2
ArduCopter/tuning.pde
View File

@ -17,6 +17,8 @@ static void tuning() {
float tuning_value = (float)g.rc_6.control_in / 1000.0f; float tuning_value = (float)g.rc_6.control_in / 1000.0f;
g.rc_6.set_range(g.radio_tuning_low,g.radio_tuning_high); g.rc_6.set_range(g.radio_tuning_low,g.radio_tuning_high);
Log_Write_Parameter_Tuning(g.radio_tuning, tuning_value, g.rc_6.control_in, g.radio_tuning_low, g.radio_tuning_high);
switch(g.radio_tuning) { switch(g.radio_tuning) {
// Roll, Pitch tuning // Roll, Pitch tuning