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Copter: CTUN logging fix for SAlt 

sonar altitude was not being logged in modes that don't use surface tracking including Auto
SAlt scaling was also incorrect
This commit is contained in:
Randy Mackay 2019-11-11 12:55:43 +09:00
parent b16d0740c8
commit adc1d60ea5
3 changed files with 13 additions and 8 deletions
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3
ArduCopter/Copter.h
View File

@ -286,7 +286,8 @@ private:
void set_target_alt_cm(float target_alt_cm);
// get target and actual distances (in m) for logging purposes
bool get_dist_for_logging(float &target_dist, float &actual_dist) const;
bool get_target_dist_for_logging(float &target_dist) const;
float get_dist_for_logging() const;
void invalidate_for_logging() { valid_for_logging = false; }
// surface tracking surface

9
ArduCopter/Log.cpp
View File

@ -41,10 +41,9 @@ void Copter::Log_Write_Control_Tuning()
}
// get surface tracking alts
float desired_rangefinder_alt, rangefinder_alt;
if (!surface_tracking.get_dist_for_logging(desired_rangefinder_alt, rangefinder_alt)) {
float desired_rangefinder_alt;
if (!surface_tracking.get_target_dist_for_logging(desired_rangefinder_alt)) {
desired_rangefinder_alt = AP::logger().quiet_nan();
rangefinder_alt = AP::logger().quiet_nan();;
}
struct log_Control_Tuning pkt = {
@ -58,7 +57,7 @@ void Copter::Log_Write_Control_Tuning()
inav_alt : inertial_nav.get_altitude() / 100.0f,
baro_alt : baro_alt,
desired_rangefinder_alt : desired_rangefinder_alt,
rangefinder_alt : rangefinder_alt,
rangefinder_alt : surface_tracking.get_dist_for_logging(),
terr_alt : terr_alt,
target_climb_rate : target_climb_rate_cms,
climb_rate : int16_t(inertial_nav.get_velocity_z()), // float -> int16_t
@ -457,7 +456,7 @@ const struct LogStructure Copter::log_structure[] = {
{ LOG_PARAMTUNE_MSG, sizeof(log_ParameterTuning),
"PTUN", "QBfff", "TimeUS,Param,TunVal,TunMin,TunMax", "s----", "F----" },
{ LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning),
"CTUN", "Qffffffefffhhf", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DSAlt,SAlt,TAlt,DCRt,CRt,N", "s----mmmmmmnnz", "F----00B0B0BB-" },
"CTUN", "Qffffffefffhhf", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DSAlt,SAlt,TAlt,DCRt,CRt,N", "s----mmmmmmnnz", "F----00B000BB-" },
{ LOG_MOTBATT_MSG, sizeof(log_MotBatt),
"MOTB", "Qffff", "TimeUS,LiftMax,BatVolt,BatRes,ThLimit", "s-vw-", "F-00-" },
{ LOG_DATA_INT16_MSG, sizeof(log_Data_Int16t),

9
ArduCopter/surface_tracking.cpp
View File

@ -86,16 +86,21 @@ void Copter::SurfaceTracking::set_target_alt_cm(float _target_alt_cm)
last_update_ms = AP_HAL::millis();
}
bool Copter::SurfaceTracking::get_dist_for_logging(float &target_dist, float &actual_dist) const
bool Copter::SurfaceTracking::get_target_dist_for_logging(float &target_dist) const
{
if (!valid_for_logging || (surface == Surface::NONE)) {
return false;
}
target_dist = target_dist_cm * 0.01f;
actual_dist = ((surface == Surface::GROUND) ? copter.rangefinder_state.alt_cm : copter.rangefinder_up_state.alt_cm) * 0.01f;
return true;
}
float Copter::SurfaceTracking::get_dist_for_logging() const
{
return ((surface == Surface::CEILING) ? copter.rangefinder_up_state.alt_cm : copter.rangefinder_state.alt_cm) * 0.01f;
}
// set direction
void Copter::SurfaceTracking::set_surface(Surface new_surface)
{