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AP_TECS: add documentation for TECS and TEC2

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Peter Barker 2019-05-13 20:25:35 +10:00 committed by Peter Barker
parent 741d3e1435
commit 6c56f24e30
1 changed files with 27 additions and 0 deletions
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27
libraries/AP_TECS/AP_TECS.cpp
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@ -1132,6 +1132,25 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
_update_pitch();
// log to AP_Logger
// @LoggerMessage: TECS
// @Vehicles: Plane
// @Description: Information about the Total Energy Control System
// @URL: http://ardupilot.org/plane/docs/tecs-total-energy-control-system-for-speed-height-tuning-guide.html
// @Field: h: height estimate (UP) currently in use by TECS
// @Field: dh: current climb rate ("delta-height")
// @Field: hdem: height TECS is currently trying to achieve
// @Field: dhdem: climb rate TECS is currently trying to achieve
// @Field: spdem: True AirSpeed TECS is currently trying to achieve
// @Field: sp: current estimated True AirSpeed
// @Field: dsp: x-axis acceleration estimate ("delta-speed")
// @Field: ith: throttle integrator value
// @Field: iph: Specific Energy Balance integrator value
// @Field: th: throttle output
// @Field: ph: pitch output
// @Field: dspdem: demanded acceleration output ("delta-speed demand")
// @Field: w: current TECS prioritisation of height vs speed (0==100% height,2==100% speed, 1==50%height+50%speed
// @Field: f: flags
// @FieldBits: f: Underspeed,UnachievableDescent,AutoLanding,ReachedTakeoffSpd
AP::logger().Write(
"TECS",
"TimeUS,h,dh,hdem,dhdem,spdem,sp,dsp,ith,iph,th,ph,dspdem,w,f",
@ -1153,6 +1172,14 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
(double)_TAS_rate_dem,
(double)logging.SKE_weighting,
_flags_byte);
// @LoggerMessage: TEC2
// @Vehicles: Plane
// @Description: Additional Information about the Total Energy Control System
// @URL: http://ardupilot.org/plane/docs/tecs-total-energy-control-system-for-speed-height-tuning-guide.html
// @Field: KErr: difference between estimated kinetic energy and desired kinetic energy
// @Field: PErr: difference between estimated potential energy and desired potential energy
// @Field: EDelta: current error in speed/balance weighting
// @Field: LF: aerodynamic load factor
AP::logger().Write("TEC2", "TimeUS,pmax,pmin,KErr,PErr,EDelta,LF",
"s------",
"F------",