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Plane: log the throttle mix for quadplane copter control

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This commit is contained in:
Andrew Tridgell 2017-04-18 22:25:14 +10:00
parent fe3e7e8153
commit 88e02c7b35
3 changed files with 3 additions and 3 deletions
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2
ArduPlane/Log.cpp
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@ -502,7 +502,7 @@ const struct LogStructure Plane::log_structure[] = {
{ LOG_STATUS_MSG, sizeof(log_Status), { LOG_STATUS_MSG, sizeof(log_Status),
"STAT", "QBfBBBBBB", "TimeUS,isFlying,isFlyProb,Armed,Safety,Crash,Still,Stage,Hit" }, "STAT", "QBfBBBBBB", "TimeUS,isFlying,isFlyProb,Armed,Safety,Crash,Still,Stage,Hit" },
{ LOG_QTUN_MSG, sizeof(QuadPlane::log_QControl_Tuning), { LOG_QTUN_MSG, sizeof(QuadPlane::log_QControl_Tuning),
"QTUN", "Qffffehhffff", "TimeUS,AngBst,ThrOut,DAlt,Alt,BarAlt,DCRt,CRt,DVx,DVy,DAx,DAy" }, "QTUN", "Qffffhhfffff", "TimeUS,AngBst,ThrOut,DAlt,Alt,DCRt,CRt,DVx,DVy,DAx,DAy,TMix" },
#if OPTFLOW == ENABLED #if OPTFLOW == ENABLED
{ LOG_OPTFLOW_MSG, sizeof(log_Optflow), { LOG_OPTFLOW_MSG, sizeof(log_Optflow),
"OF", "QBffff", "TimeUS,Qual,flowX,flowY,bodyX,bodyY" }, "OF", "QBffff", "TimeUS,Qual,flowX,flowY,bodyX,bodyY" },

2
ArduPlane/quadplane.cpp
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@ -2101,13 +2101,13 @@ void QuadPlane::Log_Write_QControl_Tuning()
throttle_out : motors->get_throttle(), throttle_out : motors->get_throttle(),
desired_alt : pos_control->get_alt_target() / 100.0f, desired_alt : pos_control->get_alt_target() / 100.0f,
inav_alt : inertial_nav.get_altitude() / 100.0f, inav_alt : inertial_nav.get_altitude() / 100.0f,
baro_alt : (int32_t)plane.barometer.get_altitude() * 100,
desired_climb_rate : (int16_t)pos_control->get_vel_target_z(), desired_climb_rate : (int16_t)pos_control->get_vel_target_z(),
climb_rate : (int16_t)inertial_nav.get_velocity_z(), climb_rate : (int16_t)inertial_nav.get_velocity_z(),
dvx : desired_velocity.x*0.01f, dvx : desired_velocity.x*0.01f,
dvy : desired_velocity.y*0.01f, dvy : desired_velocity.y*0.01f,
dax : accel_target.x*0.01f, dax : accel_target.x*0.01f,
day : accel_target.y*0.01f, day : accel_target.y*0.01f,
throttle_mix : attitude_control->get_throttle_mix(),
}; };
plane.DataFlash.WriteBlock(&pkt, sizeof(pkt)); plane.DataFlash.WriteBlock(&pkt, sizeof(pkt));
} }

2
ArduPlane/quadplane.h
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@ -96,13 +96,13 @@ public:
float throttle_out; float throttle_out;
float desired_alt; float desired_alt;
float inav_alt; float inav_alt;
int32_t baro_alt;
int16_t desired_climb_rate; int16_t desired_climb_rate;
int16_t climb_rate; int16_t climb_rate;
float dvx; float dvx;
float dvy; float dvy;
float dax; float dax;
float day; float day;
float throttle_mix;
}; };
private: private: