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Plane: added PID tuning logging for ground steering

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This commit is contained in:
Andrew Tridgell 2015-06-08 21:08:34 +10:00
parent 5105d510b8
commit 6b9854457d
2 changed files with 16 additions and 2 deletions
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17
ArduPlane/GCS_Mavlink.cpp
View File

@ -466,7 +466,7 @@ void Plane::send_pid_tuning(mavlink_channel_t chan)
const Vector3f &gyro = ahrs.get_gyro();
if (g.gcs_pid_mask & 1) {
const DataFlash_Class::PID_Info &pid_info = rollController.get_pid_info();
mavlink_msg_pid_tuning_send(chan, 1,
mavlink_msg_pid_tuning_send(chan, PID_TUNING_ROLL,
pid_info.desired,
degrees(gyro.x),
pid_info.FF,
@ -479,7 +479,7 @@ void Plane::send_pid_tuning(mavlink_channel_t chan)
}
if (g.gcs_pid_mask & 2) {
const DataFlash_Class::PID_Info &pid_info = pitchController.get_pid_info();
mavlink_msg_pid_tuning_send(chan, 2,
mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH,
pid_info.desired,
degrees(gyro.y),
pid_info.FF,
@ -490,6 +490,19 @@ void Plane::send_pid_tuning(mavlink_channel_t chan)
return;
}
}
if (g.gcs_pid_mask & 8) {
const DataFlash_Class::PID_Info &pid_info = steerController.get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_STEER,
pid_info.desired,
degrees(gyro.z),
pid_info.FF,
pid_info.P,
pid_info.I,
pid_info.D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
}
void Plane::send_rangefinder(mavlink_channel_t chan)

1
ArduPlane/Log.cpp
View File

@ -171,6 +171,7 @@ void Plane::Log_Write_Attitude(void)
#if HAL_CPU_CLASS > HAL_CPU_CLASS_16
DataFlash.Log_Write_PID(LOG_PIDR_MSG, rollController.get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDP_MSG, pitchController.get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDY_MSG, steerController.get_pid_info());
#endif
#if AP_AHRS_NAVEKF_AVAILABLE