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AP_Logger: add PIDInfo.DFF logging

This commit is contained in:
Andy Piper 2023-11-06 11:25:23 +00:00 committed by Andrew Tridgell
parent 942be4f2f8
commit 5d53485be0
2 changed files with 7 additions and 4 deletions
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1
libraries/AP_Logger/LogFile.cpp
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@ -496,6 +496,7 @@ void AP_Logger::Write_PID(uint8_t msg_type, const AP_PIDInfo &info)
I : info.I, I : info.I,
D : info.D, D : info.D,
FF : info.FF, FF : info.FF,
DFF : info.DFF,
Dmod : info.Dmod, Dmod : info.Dmod,
slew_rate : info.slew_rate, slew_rate : info.slew_rate,
flags : flags flags : flags

10
libraries/AP_Logger/LogStructure.h
View File

@ -405,6 +405,7 @@ struct PACKED log_PID {
float I; float I;
float D; float D;
float FF; float FF;
float DFF;
float Dmod; float Dmod;
float slew_rate; float slew_rate;
uint8_t flags; uint8_t flags;
@ -679,10 +680,10 @@ struct PACKED log_VER {
// UNIT messages define units which can be referenced by FMTU messages // UNIT messages define units which can be referenced by FMTU messages
// FMTU messages associate types (e.g. centimeters/second/second) to FMT message fields // 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_LABELS "TimeUS,Tar,Act,Err,P,I,D,FF,DFF,Dmod,SRate,Flags"
#define PID_FMT "QfffffffffB" #define PID_FMT "QffffffffffB"
#define PID_UNITS "s----------" #define PID_UNITS "s-----------"
#define PID_MULTS "F----------" #define PID_MULTS "F-----------"
#define PIDx_FMT "Qffffffff" #define PIDx_FMT "Qffffffff"
#define PIDx_UNITS "smmnnnooo" #define PIDx_UNITS "smmnnnooo"
@ -910,6 +911,7 @@ struct PACKED log_VER {
// @Field: I: integral part of PID // @Field: I: integral part of PID
// @Field: D: derivative part of PID // @Field: D: derivative part of PID
// @Field: FF: controller feed-forward portion of response // @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: Dmod: scaler applied to D gain to reduce limit cycling
// @Field: SRate: slew rate used in slew limiter // @Field: SRate: slew rate used in slew limiter
// @Field: Flags: bitmask of PID state flags // @Field: Flags: bitmask of PID state flags