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ArduPlane: privatize AHRS logging

This commit is contained in:
Josh Henderson 2021-01-09 03:06:40 -05:00 committed by Peter Barker
parent 9daa3bbdaa
commit cc1e395854
3 changed files with 6 additions and 14 deletions
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2
ArduPlane/ArduPlane.cpp
View File

@ -206,7 +206,7 @@ void Plane::update_logging1(void)
logger.Write_IMU(); logger.Write_IMU();
if (should_log(MASK_LOG_ATTITUDE_MED)) if (should_log(MASK_LOG_ATTITUDE_MED))
logger.Write_AOA_SSA(ahrs); ahrs.Write_AOA_SSA();
} }
/* /*

16
ArduPlane/Log.cpp
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@ -18,9 +18,9 @@ void Plane::Log_Write_Attitude(void)
// Get them from the quaternion instead: // Get them from the quaternion instead:
quadplane.attitude_control->get_attitude_target_quat().to_euler(targets.x, targets.y, targets.z); quadplane.attitude_control->get_attitude_target_quat().to_euler(targets.x, targets.y, targets.z);
targets *= degrees(100.0f); targets *= degrees(100.0f);
logger.Write_AttitudeView(*quadplane.ahrs_view, targets); quadplane.ahrs_view->Write_AttitudeView(targets);
} else { } else {
logger.Write_Attitude(targets); ahrs.Write_Attitude(targets);
} }
if (quadplane.in_vtol_mode() || quadplane.in_assisted_flight()) { if (quadplane.in_vtol_mode() || quadplane.in_assisted_flight()) {
// log quadplane PIDs separately from fixed wing PIDs // log quadplane PIDs separately from fixed wing PIDs
@ -37,12 +37,12 @@ void Plane::Log_Write_Attitude(void)
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE
AP::ahrs_navekf().Log_Write(); AP::ahrs_navekf().Log_Write();
logger.Write_AHRS2(); ahrs.Write_AHRS2();
#endif #endif
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
sitl.Log_Write_SIMSTATE(); sitl.Log_Write_SIMSTATE();
#endif #endif
logger.Write_POS(); ahrs.Write_POS();
} }
// do fast logging for plane // do fast logging for plane
@ -376,14 +376,6 @@ const struct LogStructure Plane::log_structure[] = {
{ LOG_QTUN_MSG, sizeof(QuadPlane::log_QControl_Tuning), { LOG_QTUN_MSG, sizeof(QuadPlane::log_QControl_Tuning),
"QTUN", "QffffffeccffBB", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DCRt,CRt,TMix,Sscl,Trn,Ast", "s----mmmnn----", "F----00000-0--" }, "QTUN", "QffffffeccffBB", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DCRt,CRt,TMix,Sscl,Trn,Ast", "s----mmmnn----", "F----00000-0--" },
// @LoggerMessage: AOA
// @Description: Angle of attack and Side Slip Angle values
// @Field: TimeUS: Time since system startup
// @Field: AOA: Angle of Attack calculated from airspeed, wind vector,velocity vector
// @Field: SSA: Side Slip Angle calculated from airspeed, wind vector,velocity vector
{ LOG_AOA_SSA_MSG, sizeof(log_AOA_SSA),
"AOA", "Qff", "TimeUS,AOA,SSA", "sdd", "F00" },
// @LoggerMessage: PIQR,PIQP,PIQY,PIQA // @LoggerMessage: PIQR,PIQP,PIQY,PIQA
// @Description: QuadPlane Proportional/Integral/Derivative gain values for Roll/Pitch/Yaw/Z // @Description: QuadPlane Proportional/Integral/Derivative gain values for Roll/Pitch/Yaw/Z
// @Field: TimeUS: Time since system startup // @Field: TimeUS: Time since system startup

2
ArduPlane/quadplane.cpp
View File

@ -2206,7 +2206,7 @@ void QuadPlane::motors_output(bool run_rate_controller)
const uint32_t now = AP_HAL::millis(); const uint32_t now = AP_HAL::millis();
// log RATE at main loop rate // log RATE at main loop rate
plane.logger.Write_Rate(ahrs_view, *motors, *attitude_control, *pos_control); ahrs_view->Write_Rate(*motors, *attitude_control, *pos_control);
// log QTUN at 25 Hz // log QTUN at 25 Hz
if (now - last_qtun_log_ms > 40) { if (now - last_qtun_log_ms > 40) {