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Plane: log currently used airspeed

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this logs whatever airspeed is being used for flight
This commit is contained in:
Andrew Tridgell 2017-11-01 09:16:59 +11:00
parent e715e47f0c
commit 5631056f10
1 changed files with 7 additions and 2 deletions
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9
ArduPlane/Log.cpp
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@ -272,11 +272,15 @@ struct PACKED log_Control_Tuning {
int16_t throttle_out; int16_t throttle_out;
int16_t rudder_out; int16_t rudder_out;
int16_t throttle_dem; int16_t throttle_dem;
float airspeed_estimate;
}; };
// Write a control tuning packet. Total length : 22 bytes // Write a control tuning packet. Total length : 22 bytes
void Plane::Log_Write_Control_Tuning() void Plane::Log_Write_Control_Tuning()
{ {
float est_airspeed = 0;
ahrs.airspeed_estimate(&est_airspeed);
struct log_Control_Tuning pkt = { struct log_Control_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_CTUN_MSG), LOG_PACKET_HEADER_INIT(LOG_CTUN_MSG),
time_us : AP_HAL::micros64(), time_us : AP_HAL::micros64(),
@ -286,7 +290,8 @@ void Plane::Log_Write_Control_Tuning()
pitch : (int16_t)ahrs.pitch_sensor, pitch : (int16_t)ahrs.pitch_sensor,
throttle_out : (int16_t)SRV_Channels::get_output_scaled(SRV_Channel::k_throttle), throttle_out : (int16_t)SRV_Channels::get_output_scaled(SRV_Channel::k_throttle),
rudder_out : (int16_t)SRV_Channels::get_output_scaled(SRV_Channel::k_rudder), rudder_out : (int16_t)SRV_Channels::get_output_scaled(SRV_Channel::k_rudder),
throttle_dem : (int16_t)SpdHgt_Controller->get_throttle_demand() throttle_dem : (int16_t)SpdHgt_Controller->get_throttle_demand(),
airspeed_estimate : est_airspeed
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); DataFlash.WriteBlock(&pkt, sizeof(pkt));
} }
@ -530,7 +535,7 @@ const struct LogStructure Plane::log_structure[] = {
{ LOG_STARTUP_MSG, sizeof(log_Startup), { LOG_STARTUP_MSG, sizeof(log_Startup),
"STRT", "QBH", "TimeUS,SType,CTot" }, "STRT", "QBH", "TimeUS,SType,CTot" },
{ LOG_CTUN_MSG, sizeof(log_Control_Tuning), { LOG_CTUN_MSG, sizeof(log_Control_Tuning),
"CTUN", "Qcccchhh", "TimeUS,NavRoll,Roll,NavPitch,Pitch,ThrOut,RdrOut,ThrDem" }, "CTUN", "Qcccchhhf", "TimeUS,NavRoll,Roll,NavPitch,Pitch,ThrOut,RdrOut,ThrDem,Aspd" },
{ LOG_NTUN_MSG, sizeof(log_Nav_Tuning), { LOG_NTUN_MSG, sizeof(log_Nav_Tuning),
"NTUN", "Qfcccfff", "TimeUS,WpDist,TargBrg,NavBrg,AltErr,XT,XTi,ArspdErr" }, "NTUN", "Qfcccfff", "TimeUS,WpDist,TargBrg,NavBrg,AltErr,XT,XTi,ArspdErr" },
{ LOG_SONAR_MSG, sizeof(log_Sonar), { LOG_SONAR_MSG, sizeof(log_Sonar),