mirror of https://github.com/ArduPilot/ardupilot
Blimp: remove vestiges of system identification mode
This commit is contained in:
Peter Barker
Tom Pittenger
parent
522f480b2d
commit
a303ddb6e3
102
Blimp/Log.cpp
102
Blimp/Log.cpp
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@ -232,73 +232,6 @@ tuning_max : tune_max
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logger.WriteBlock(&pkt_tune, sizeof(pkt_tune));
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}
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struct PACKED log_SysIdD {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float waveform_time;
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float waveform_sample;
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float waveform_freq;
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float angle_x;
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float angle_y;
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float angle_z;
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float accel_x;
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float accel_y;
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float accel_z;
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};
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// Write an rate packet
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void Blimp::Log_Write_SysID_Data(float waveform_time, float waveform_sample, float waveform_freq, float angle_x, float angle_y, float angle_z, float accel_x, float accel_y, float accel_z)
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{
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#if MODE_SYSTEMID_ENABLED == ENABLED
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struct log_SysIdD pkt_sidd = {
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LOG_PACKET_HEADER_INIT(LOG_SYSIDD_MSG),
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time_us : AP_HAL::micros64(),
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waveform_time : waveform_time,
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waveform_sample : waveform_sample,
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waveform_freq : waveform_freq,
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angle_x : angle_x,
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angle_y : angle_y,
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angle_z : angle_z,
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accel_x : accel_x,
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accel_y : accel_y,
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accel_z : accel_z
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};
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logger.WriteBlock(&pkt_sidd, sizeof(pkt_sidd));
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#endif
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}
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struct PACKED log_SysIdS {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t systemID_axis;
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float waveform_magnitude;
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float frequency_start;
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float frequency_stop;
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float time_fade_in;
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float time_const_freq;
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float time_record;
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float time_fade_out;
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};
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// Write an rate packet
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void Blimp::Log_Write_SysID_Setup(uint8_t systemID_axis, float waveform_magnitude, float frequency_start, float frequency_stop, float time_fade_in, float time_const_freq, float time_record, float time_fade_out)
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{
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#if MODE_SYSTEMID_ENABLED == ENABLED
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struct log_SysIdS pkt_sids = {
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LOG_PACKET_HEADER_INIT(LOG_SYSIDS_MSG),
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time_us : AP_HAL::micros64(),
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systemID_axis : systemID_axis,
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waveform_magnitude : waveform_magnitude,
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frequency_start : frequency_start,
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frequency_stop : frequency_stop,
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time_fade_in : time_fade_in,
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time_const_freq : time_const_freq,
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time_record : time_record,
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time_fade_out : time_fade_out
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};
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logger.WriteBlock(&pkt_sids, sizeof(pkt_sids));
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#endif
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}
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// type and unit information can be found in
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// libraries/AP_Logger/Logstructure.h; search for "log_Units" for
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@ -441,41 +374,6 @@ const struct LogStructure Blimp::log_structure[] = {
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LOG_DATA_FLOAT_MSG, sizeof(log_Data_Float),
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"DFLT", "QBf", "TimeUS,Id,Value", "s--", "F--"
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},
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// @LoggerMessage: SIDD
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// @Description: System ID data
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// @Field: TimeUS: Time since system startup
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// @Field: Time: Time reference for waveform
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// @Field: Targ: Current waveform sample
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// @Field: F: Instantaneous waveform frequency
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// @Field: Gx: Delta angle, X-Axis
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// @Field: Gy: Delta angle, Y-Axis
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// @Field: Gz: Delta angle, Z-Axis
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// @Field: Ax: Delta velocity, X-Axis
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// @Field: Ay: Delta velocity, Y-Axis
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// @Field: Az: Delta velocity, Z-Axis
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{
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LOG_SYSIDD_MSG, sizeof(log_SysIdD),
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"SIDD", "Qfffffffff", "TimeUS,Time,Targ,F,Gx,Gy,Gz,Ax,Ay,Az", "ss-zkkkooo", "F---------"
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},
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// @LoggerMessage: SIDS
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// @Description: System ID settings
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// @Field: TimeUS: Time since system startup
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// @Field: Ax: The axis which is being excited
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// @Field: Mag: Magnitude of the chirp waveform
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// @Field: FSt: Frequency at the start of chirp
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// @Field: FSp: Frequency at the end of chirp
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// @Field: TFin: Time to reach maximum amplitude of chirp
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// @Field: TC: Time at constant frequency before chirp starts
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// @Field: TR: Time taken to complete chirp waveform
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// @Field: TFout: Time to reach zero amplitude after chirp finishes
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{
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LOG_SYSIDS_MSG, sizeof(log_SysIdS),
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"SIDS", "QBfffffff", "TimeUS,Ax,Mag,FSt,FSp,TFin,TC,TR,TFout", "s--ssssss", "F--------"
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},
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};
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void Blimp::Log_Write_Vehicle_Startup_Messages()
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@ -239,12 +239,6 @@
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# define MODE_SPORT_ENABLED !HAL_MINIMIZE_FEATURES
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// System ID - conduct system identification tests on vehicle
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#ifndef MODE_SYSTEMID_ENABLED
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# define MODE_SYSTEMID_ENABLED !HAL_MINIMIZE_FEATURES
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// RADIO CONFIGURATION
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//////////////////////////////////////////////////////////////////////////////
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