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Copter: add fast harmonic notch logging

This commit is contained in:
Andy Piper 2022-08-06 20:07:39 +01:00 committed by Randy Mackay
parent 1c8d206dfb
commit 9a450a05bb
3 changed files with 8 additions and 2 deletions
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5
ArduCopter/Copter.cpp
View File

@ -491,6 +491,9 @@ void Copter::loop_rate_logging()
if (should_log(MASK_LOG_ATTITUDE_FAST) && !copter.flightmode->logs_attitude()) {
Log_Write_Attitude();
}
if (should_log(MASK_LOG_FTN_FAST)) {
AP::ins().write_notch_log_messages();
}
}
// ten_hz_logging_loop
@ -703,7 +706,9 @@ void Copter::update_altitude()
if (should_log(MASK_LOG_CTUN)) {
Log_Write_Control_Tuning();
if (!should_log(MASK_LOG_FTN_FAST)) {
AP::ins().write_notch_log_messages();
}
#if HAL_GYROFFT_ENABLED
gyro_fft.write_log_messages();
#endif

2
ArduCopter/Parameters.cpp
View File

@ -322,7 +322,7 @@ const AP_Param::Info Copter::var_info[] = {
// @Param: LOG_BITMASK
// @DisplayName: Log bitmask
// @Description: 4 byte bitmap of log types to enable
// @Bitmask: 0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,17:MOTBATT,18:IMU_FAST,19:IMU_RAW,20:VideoStabilization
// @Bitmask: 0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,17:MOTBATT,18:IMU_FAST,19:IMU_RAW,20:VideoStabilization,21:Fast harmonic notch updates
// @User: Standard
GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),

1
ArduCopter/defines.h
View File

@ -144,6 +144,7 @@ enum LoggingParameters {
#define MASK_LOG_IMU_FAST (1UL<<18)
#define MASK_LOG_IMU_RAW (1UL<<19)
#define MASK_LOG_VIDEO_STABILISATION (1UL<<20)
#define MASK_LOG_FTN_FAST (1UL<<21)
#define MASK_LOG_ANY 0xFFFF
// Radio failsafe definitions (FS_THR parameter)