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AP_Scripting: add logging to plane-wind-fs example

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Iampete1 2020-07-14 00:11:55 +01:00 committed by Andrew Tridgell
parent 420c9c9d36
commit a09e15137e
1 changed files with 6 additions and 2 deletions
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8
libraries/AP_Scripting/examples/plane-wind-fs.lua
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@ -232,18 +232,19 @@ function track_return_time()
end
-- print updates tracking progress
local return_time = time_to_home()
local total_time = return_time + ((now-return_start)/1000)
if last_print + (print_time * 1000) < now and print_time > 0 then
last_print = now
local return_time = time_to_home()
if (return_time < 0) then
gcs:send_text(6, "Failsafe: ground speed low can not get home")
elseif (return_time > 0) then
local total_time = return_time + ((now-return_start)/1000)
-- cannot get string.format() to work with total time, wrong variable type? ie not %f or %i?
gcs:send_text(0, "Failsafe: Estimated " .. tostring(total_time) .. string.format("s, %.0fs remain", return_time) )
end
end
logger.write('SFSC','total_return_time,remaining_return_time','If','ss','--',total_time,return_time)
end
return track_return_time, 100
end
@ -331,6 +332,8 @@ function update()
return_q = 0.5 * density * return_airspeed^2 -- we could estimate the change in density also, but will be negligible
end
logger.write('SFSA','return_time,return_airspeed,Q,return_Q','ffff','snPP','----',return_time,return_airspeed,q,return_q)
for i = 1, #batt_info do
local instance, norm_filtered_amps, rated_capacity_mah = table.unpack(batt_info[i])
local amps = battery:current_amps(instance)
@ -351,6 +354,7 @@ function update()
local remaining_time = remaining_capacity / return_amps
local buffer_time = remaining_time - ((return_time * time_SF) + margin)
logger.write('SFSB','Instance,current,rem_cap,rem_time,buffer','Bffff','#Aiss','--C--',i-1,return_amps,remaining_capacity,remaining_time,buffer_time)
if (return_time < 0) or buffer_time < 0 then
if return_time < 0 then
gcs:send_text(0, "Failsafe: ground speed low can not get home")