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Copter: add accel target to NTUN log msg

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Also rename NTUN column headers from D (meaning Desired) to T (meaning Target)
This commit is contained in:
Leonard Hall 2017-06-24 17:29:23 +09:30 committed by Randy Mackay
parent f9acc8a666
commit 7511781a7e
1 changed files with 8 additions and 2 deletions
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10
ArduCopter/Log.cpp
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@ -105,6 +105,8 @@ struct PACKED log_Nav_Tuning {
float vel_y;
float desired_accel_x;
float desired_accel_y;
float accel_x;
float accel_y;
};
// Write an Nav Tuning packet
@ -115,6 +117,8 @@ void Copter::Log_Write_Nav_Tuning()
const Vector3f &accel_target = pos_control->get_accel_target();
const Vector3f &position = inertial_nav.get_position();
const Vector3f &velocity = inertial_nav.get_velocity();
float accel_x, accel_y;
pos_control->lean_angles_to_accel(accel_x, accel_y);
struct log_Nav_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_NAV_TUNING_MSG),
@ -128,7 +132,9 @@ void Copter::Log_Write_Nav_Tuning()
vel_x : velocity.x,
vel_y : velocity.y,
desired_accel_x : accel_target.x,
desired_accel_y : accel_target.y
desired_accel_y : accel_target.y,
accel_x : accel_x,
accel_y : accel_y
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
@ -590,7 +596,7 @@ const struct LogStructure Copter::log_structure[] = {
{ LOG_OPTFLOW_MSG, sizeof(log_Optflow),
"OF", "QBffff", "TimeUS,Qual,flowX,flowY,bodyX,bodyY", "s-EEEE", "F-0000" },
{ LOG_NAV_TUNING_MSG, sizeof(log_Nav_Tuning),
"NTUN", "Qffffffffff", "TimeUS,DPosX,DPosY,PosX,PosY,DVelX,DVelY,VelX,VelY,DAccX,DAccY", "smmmmnnnnoo", "FBBBBBBBBBB" },
"NTUN", "Qffffffffffff", "TimeUS,TPX,TPY,PX,PY,TVX,TVY,VX,VY,TAX,TAY,AX,AY", "smmmmnnnnoooo", "FBBBBBBBBBBBB" },
{ LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning),
"CTUN", "Qffffffeccfhh", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DSAlt,SAlt,TAlt,DCRt,CRt", "s----mmmmmmnn", "F----00BBBBBB" },
{ LOG_MOTBATT_MSG, sizeof(log_MotBatt),