From 5d53485be09d52c96af27e4f21fe941c23a8c9a0 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Mon, 6 Nov 2023 11:25:23 +0000 Subject: [PATCH] AP_Logger: add PIDInfo.DFF logging --- libraries/AP_Logger/LogFile.cpp | 1 + libraries/AP_Logger/LogStructure.h | 10 ++++++---- 2 files changed, 7 insertions(+), 4 deletions(-) diff --git a/libraries/AP_Logger/LogFile.cpp b/libraries/AP_Logger/LogFile.cpp index 26717af38c..0666943e94 100644 --- a/libraries/AP_Logger/LogFile.cpp +++ b/libraries/AP_Logger/LogFile.cpp @@ -496,6 +496,7 @@ void AP_Logger::Write_PID(uint8_t msg_type, const AP_PIDInfo &info) I : info.I, D : info.D, FF : info.FF, + DFF : info.DFF, Dmod : info.Dmod, slew_rate : info.slew_rate, flags : flags diff --git a/libraries/AP_Logger/LogStructure.h b/libraries/AP_Logger/LogStructure.h index ad6632a24c..1259c6417c 100644 --- a/libraries/AP_Logger/LogStructure.h +++ b/libraries/AP_Logger/LogStructure.h @@ -405,6 +405,7 @@ struct PACKED log_PID { float I; float D; float FF; + float DFF; float Dmod; float slew_rate; uint8_t flags; @@ -679,10 +680,10 @@ struct PACKED log_VER { // UNIT messages define units which can be referenced by FMTU messages // FMTU messages associate types (e.g. centimeters/second/second) to FMT message fields -#define PID_LABELS "TimeUS,Tar,Act,Err,P,I,D,FF,Dmod,SRate,Flags" -#define PID_FMT "QfffffffffB" -#define PID_UNITS "s----------" -#define PID_MULTS "F----------" +#define PID_LABELS "TimeUS,Tar,Act,Err,P,I,D,FF,DFF,Dmod,SRate,Flags" +#define PID_FMT "QffffffffffB" +#define PID_UNITS "s-----------" +#define PID_MULTS "F-----------" #define PIDx_FMT "Qffffffff" #define PIDx_UNITS "smmnnnooo" @@ -910,6 +911,7 @@ struct PACKED log_VER { // @Field: I: integral part of PID // @Field: D: derivative part of PID // @Field: FF: controller feed-forward portion of response +// @Field: DFF: controller derivative feed-forward portion of response // @Field: Dmod: scaler applied to D gain to reduce limit cycling // @Field: SRate: slew rate used in slew limiter // @Field: Flags: bitmask of PID state flags