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Plane: Add diagnostics logging to QuadPlane::assign_tilt_to_fwd_thr

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Paul Riseborough 2023-09-13 22:20:16 +10:00 committed by Andrew Tridgell
parent fa5aef050c
commit acf8dbaeee
1 changed files with 11 additions and 0 deletions
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11
ArduPlane/quadplane.cpp
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@ -3015,6 +3015,17 @@ void QuadPlane::assign_tilt_to_fwd_thr(void) {
// acceleration capability.
const float nav_pitch_lower_limit_cd = - (int32_t)((float)aparm.angle_max * (1.0f - fwd_thr_scaler) + q_fwd_pitch_lim_cd * fwd_thr_scaler);
// Diagnostics logging - remove when feature is fully flight tested.
AP::logger().WriteStreaming("FWDT",
"TimeUS,fts,qfpcd,npllcd,npcd,qft", // labels
"Qfffff", // fmt
AP_HAL::micros64(),
(double)fwd_thr_scaler,
(double)q_fwd_pitch_lim_cd,
(double)nav_pitch_lower_limit_cd,
(double)plane.nav_pitch_cd,
(double)q_fwd_throttle);
plane.nav_pitch_cd = MAX(plane.nav_pitch_cd, (int32_t)nav_pitch_lower_limit_cd);
}