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AP_Logger: Write_PID: add reset and I terms set flags

This commit is contained in:
Iampete1 2023-12-11 18:45:20 +00:00 committed by Randy Mackay
parent d53b73468b
commit a44cba03ef
1 changed files with 8 additions and 0 deletions
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8
libraries/AP_Logger/LogFile.cpp
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@ -478,6 +478,8 @@ void AP_Logger::Write_PID(uint8_t msg_type, const AP_PIDInfo &info)
enum class log_PID_Flags : uint8_t { enum class log_PID_Flags : uint8_t {
LIMIT = 1U<<0, // true if the output is saturated, I term anti windup is active LIMIT = 1U<<0, // true if the output is saturated, I term anti windup is active
PD_SUM_LIMIT = 1U<<1, // true if the PD sum limit is active PD_SUM_LIMIT = 1U<<1, // true if the PD sum limit is active
RESET = 1U<<2, // true if the controller was reset
I_TERM_SET = 1U<<3, // true if the I term has been set externally including reseting to 0
}; };
uint8_t flags = 0; uint8_t flags = 0;
@ -487,6 +489,12 @@ void AP_Logger::Write_PID(uint8_t msg_type, const AP_PIDInfo &info)
if (info.PD_limit) { if (info.PD_limit) {
flags |= (uint8_t)log_PID_Flags::PD_SUM_LIMIT; flags |= (uint8_t)log_PID_Flags::PD_SUM_LIMIT;
} }
if (info.reset) {
flags |= (uint8_t)log_PID_Flags::RESET;
}
if (info.I_term_set) {
flags |= (uint8_t)log_PID_Flags::I_TERM_SET;
}
const struct log_PID pkt{ const struct log_PID pkt{
LOG_PACKET_HEADER_INIT(msg_type), LOG_PACKET_HEADER_INIT(msg_type),