From 7c46585bac825a9f04ec0cbde279cda47fed0967 Mon Sep 17 00:00:00 2001 From: Henry Wurzburg Date: Mon, 2 Oct 2023 20:43:49 -0500 Subject: [PATCH] ArduPlane: add airspeed estimate status logging --- ArduPlane/Log.cpp | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/ArduPlane/Log.cpp b/ArduPlane/Log.cpp index 027453dc59..8f46404a85 100644 --- a/ArduPlane/Log.cpp +++ b/ArduPlane/Log.cpp @@ -79,6 +79,7 @@ struct PACKED log_Control_Tuning { float rudder_out; float throttle_dem; float airspeed_estimate; + uint8_t airspeed_estimate_status; float synthetic_airspeed; float EAS2TAS; int32_t groundspeed_undershoot; @@ -88,7 +89,8 @@ struct PACKED log_Control_Tuning { void Plane::Log_Write_Control_Tuning() { float est_airspeed = 0; - ahrs.airspeed_estimate(est_airspeed); + AP_AHRS::AirspeedEstimateType airspeed_estimate_type = AP_AHRS::AirspeedEstimateType::NO_NEW_ESTIMATE; + ahrs.airspeed_estimate(est_airspeed, airspeed_estimate_type); float synthetic_airspeed; if (!ahrs.synthetic_airspeed(synthetic_airspeed)) { @@ -106,6 +108,7 @@ void Plane::Log_Write_Control_Tuning() rudder_out : SRV_Channels::get_output_scaled(SRV_Channel::k_rudder), throttle_dem : TECS_controller.get_throttle_demand(), airspeed_estimate : est_airspeed, + airspeed_estimate_status : (uint8_t)airspeed_estimate_type, synthetic_airspeed : synthetic_airspeed, EAS2TAS : ahrs.get_EAS2TAS(), groundspeed_undershoot : groundspeed_undershoot, @@ -303,15 +306,17 @@ const struct LogStructure Plane::log_structure[] = { // @Field: NavPitch: desired pitch // @Field: Pitch: achieved pitch // @Field: ThO: scaled output throttle -// @Field: RdrOut: scaled output rudder +// @Field: RdO: scaled output rudder // @Field: ThD: demanded speed-height-controller throttle // @Field: As: airspeed estimate (or measurement if airspeed sensor healthy and ARSPD_USE>0) // @Field: SAs: DCM's airspeed estimate, NaN if not available +// @Field: AsT: airspeed type ( old estimate or source of new estimate) +// @FieldValueEnum: AsT: AP_AHRS::AirspeedEstimateType // @Field: E2T: equivalent to true airspeed ratio // @Field: GU: groundspeed undershoot when flying with minimum groundspeed { LOG_CTUN_MSG, sizeof(log_Control_Tuning), - "CTUN", "Qccccffffffi", "TimeUS,NavRoll,Roll,NavPitch,Pitch,ThO,RdrOut,ThD,As,SAs,E2T,GU", "sdddd---nn-n", "FBBBB---00-B" , true }, + "CTUN", "QccccffffBffi", "TimeUS,NavRoll,Roll,NavPitch,Pitch,ThO,RdO,ThD,As,AsT,SAs,E2T,GU", "sdddd---n-n-n", "FBBBB---000-B" , true }, // @LoggerMessage: NTUN // @Description: Navigation Tuning information - e.g. vehicle destination