Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: move motbatt logging to motors

This commit is contained in:
Iampete1 2021-12-21 20:47:04 +00:00 committed by Andrew Tridgell
parent 834ec4cea2
commit b6806ada27
4 changed files with 1 additions and 40 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/Copter.cpp
View File

@ -491,7 +491,7 @@ void Copter::ten_hz_logging_loop()
Log_Write_EKF_POS();
}
if (should_log(MASK_LOG_MOTBATT)) {
Log_Write_MotBatt();
motors->Log_Write();
}
if (should_log(MASK_LOG_RCIN)) {
logger.Write_RCIN();

1
ArduCopter/Copter.h
View File

@ -786,7 +786,6 @@ private:
void Log_Write_Control_Tuning();
void Log_Write_Attitude();
void Log_Write_EKF_POS();
void Log_Write_MotBatt();
void Log_Write_Data(LogDataID id, int32_t value);
void Log_Write_Data(LogDataID id, uint32_t value);
void Log_Write_Data(LogDataID id, int16_t value);

37
ArduCopter/Log.cpp
View File

@ -94,31 +94,6 @@ void Copter::Log_Write_EKF_POS()
ahrs.Write_POS();
}
struct PACKED log_MotBatt {
LOG_PACKET_HEADER;
uint64_t time_us;
float lift_max;
float bat_volt;
float bat_res;
float th_limit;
};
// Write an rate packet
void Copter::Log_Write_MotBatt()
{
#if FRAME_CONFIG != HELI_FRAME
struct log_MotBatt pkt_mot = {
LOG_PACKET_HEADER_INIT(LOG_MOTBATT_MSG),
time_us : AP_HAL::micros64(),
lift_max : (float)(motors->get_lift_max()),
bat_volt : (float)(motors->get_batt_voltage_filt()),
bat_res : (float)(battery.get_resistance()),
th_limit : (float)(motors->get_throttle_limit())
};
logger.WriteBlock(&pkt_mot, sizeof(pkt_mot));
#endif
}
struct PACKED log_Data_Int16t {
LOG_PACKET_HEADER;
uint64_t time_us;
@ -467,17 +442,6 @@ const struct LogStructure Copter::log_structure[] = {
{ LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning),
"CTUN", "Qffffffefffhh", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DSAlt,SAlt,TAlt,DCRt,CRt", "s----mmmmmmnn", "F----00B000BB" , true },
// @LoggerMessage: MOTB
// @Description: Battery information
// @Field: TimeUS: Time since system startup
// @Field: LiftMax: Maximum motor compensation gain
// @Field: BatVolt: Ratio betwen detected battery voltage and maximum battery voltage
// @Field: BatRes: Estimated battery resistance
// @Field: ThLimit: Throttle limit set due to battery current limitations
{ LOG_MOTBATT_MSG, sizeof(log_MotBatt),
"MOTB", "Qffff", "TimeUS,LiftMax,BatVolt,BatRes,ThLimit", "s-vw-", "F-00-" , true },
{ LOG_DATA_INT16_MSG, sizeof(log_Data_Int16t),
"D16", "QBh", "TimeUS,Id,Value", "s--", "F--" },
{ LOG_DATA_UINT16_MSG, sizeof(log_Data_UInt16t),
@ -572,7 +536,6 @@ void Copter::log_init(void)
void Copter::Log_Write_Control_Tuning() {}
void Copter::Log_Write_Attitude(void) {}
void Copter::Log_Write_EKF_POS() {}
void Copter::Log_Write_MotBatt() {}
void Copter::Log_Write_Data(LogDataID id, int32_t value) {}
void Copter::Log_Write_Data(LogDataID id, uint32_t value) {}
void Copter::Log_Write_Data(LogDataID id, int16_t value) {}

1
ArduCopter/defines.h
View File

@ -116,7 +116,6 @@ enum LoggingParameters {
LOG_DATA_INT32_MSG,
LOG_DATA_UINT32_MSG,
LOG_DATA_FLOAT_MSG,
LOG_MOTBATT_MSG,
LOG_PARAMTUNE_MSG,
LOG_HELI_MSG,
LOG_GUIDEDTARGET_MSG,