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AP_InertialSensor: Logging: only log single notch frequency unless per-motor, never log fixed

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Iampete1 2022-09-24 14:32:42 +01:00 committed by Peter Barker
parent ce481af167
commit 4668e1b61e
1 changed files with 26 additions and 9 deletions
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35
libraries/AP_InertialSensor/AP_InertialSensor_Logging.cpp
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@ -135,7 +135,7 @@ bool AP_InertialSensor::BatchSampler::Write_ISBD() const
} }
// @LoggerMessage: FTN // @LoggerMessage: FTN
// @Description: Filter Tuning Messages // @Description: Filter Tuning Message - per motor
// @Field: TimeUS: microseconds since system startup // @Field: TimeUS: microseconds since system startup
// @Field: I: instance // @Field: I: instance
// @Field: NDn: number of active dynamic harmonic notches // @Field: NDn: number of active dynamic harmonic notches
@ -151,6 +151,13 @@ bool AP_InertialSensor::BatchSampler::Write_ISBD() const
// @Field: NF10: dynamic harmonic notch centre frequency for motor 10 // @Field: NF10: dynamic harmonic notch centre frequency for motor 10
// @Field: NF11: dynamic harmonic notch centre frequency for motor 11 // @Field: NF11: dynamic harmonic notch centre frequency for motor 11
// @Field: NF12: dynamic harmonic notch centre frequency for motor 12 // @Field: NF12: dynamic harmonic notch centre frequency for motor 12
// @LoggerMessage: FTNS
// @Description: Filter Tuning Message
// @Field: TimeUS: microseconds since system startup
// @Field: I: instance
// @Field: NF: dynamic harmonic notch centre frequency
void AP_InertialSensor::write_notch_log_messages() const void AP_InertialSensor::write_notch_log_messages() const
{ {
for (auto &notch : harmonic_notches) { for (auto &notch : harmonic_notches) {
@ -159,13 +166,23 @@ void AP_InertialSensor::write_notch_log_messages() const
continue; continue;
} }
const float* notches = notch.calculated_notch_freq_hz; const float* notches = notch.calculated_notch_freq_hz;
AP::logger().WriteStreaming( if (notch.num_calculated_notch_frequencies > 1) {
"FTN", "TimeUS,I,NDn,NF1,NF2,NF3,NF4,NF5,NF6,NF7,NF8,NF9,NF10,NF11,NF12", "s#-zzzzzzzzzzzz", "F--------------", "QBBffffffffffff", // log per motor center frequencies
AP_HAL::micros64(), AP::logger().WriteStreaming(
i, "FTN", "TimeUS,I,NDn,NF1,NF2,NF3,NF4,NF5,NF6,NF7,NF8,NF9,NF10,NF11,NF12", "s#-zzzzzzzzzzzz", "F--------------", "QBBffffffffffff",
notch.num_calculated_notch_frequencies, AP_HAL::micros64(),
notches[0], notches[1], notches[2], notches[3], i,
notches[4], notches[5], notches[6], notches[7], notch.num_calculated_notch_frequencies,
notches[8], notches[9], notches[10], notches[11]); notches[0], notches[1], notches[2], notches[3],
notches[4], notches[5], notches[6], notches[7],
notches[8], notches[9], notches[10], notches[11]);
} else {
// log single center frequency
AP::logger().WriteStreaming(
"FTNS", "TimeUS,I,NF", "s#z", "F--", "QBf",
AP_HAL::micros64(),
i,
notches[0]);
}
} }
} }