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SITL: add documentation for SITL and SMOO message

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Peter Barker 2020-04-15 11:54:10 +10:00 committed by Andrew Tridgell
parent 0c5d68dfeb
commit cda0d14f57
1 changed files with 27 additions and 0 deletions
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27
libraries/SITL/SIM_Aircraft.cpp
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@ -149,6 +149,18 @@ void Aircraft::update_position(void)
#if 0
// logging of raw sitl data
Vector3f accel_ef = dcm * accel_body;
// @LoggerMessage: SITL
// @Description: Simulation data
// @Field: TimeUS: Time since system startup
// @Field: VN: Velocity - North component
// @Field: VE: Velocity - East component
// @Field: VD: Velocity - Down component
// @Field: AN: Acceleration - North component
// @Field: AE: Acceleration - East component
// @Field: AD: Acceleration - Down component
// @Field: PN: Position - North component
// @Field: PE: Position - East component
// @Field: PD: Position - Down component
AP::logger().Write("SITL", "TimeUS,VN,VE,VD,AN,AE,AD,PN,PE,PD", "Qfffffffff",
AP_HAL::micros64(),
velocity_ef.x, velocity_ef.y, velocity_ef.z,
@ -651,6 +663,21 @@ void Aircraft::smooth_sensors(void)
dcm.to_euler(&R2, &P2, &Y2);
#if 0
// @LoggerMessage: SMOO
// @Description: Smoothed sensor data fed to EKF to avoid inconsistencies
// @Field: TimeUS: Time since system startup
// @Field: AEx: Angular Velocity (around x-axis)
// @Field: AEy: Angular Velocity (around y-axis)
// @Field: AEz: Angular Velocity (around z-axis)
// @Field: DPx: Velocity (along x-axis)
// @Field: DPy: Velocity (along y-axis)
// @Field: DPz: Velocity (along z-axis)
// @Field: R: Roll
// @Field: P: Pitch
// @Field: Y: Yaw
// @Field: R2: DCM Roll
// @Field: P2: DCM Pitch
// @Field: Y2: DCM Yaw
AP::logger().Write("SMOO", "TimeUS,AEx,AEy,AEz,DPx,DPy,DPz,R,P,Y,R2,P2,Y2",
"Qffffffffffff",
AP_HAL::micros64(),