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Plane: make QTUN logging match copter logging

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This commit is contained in:
Andrew Tridgell 2018-12-21 18:42:59 +11:00
parent 25c659822a
commit d3afc9424a
3 changed files with 18 additions and 15 deletions
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2
ArduPlane/Log.cpp
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@ -281,7 +281,7 @@ const struct LogStructure Plane::log_structure[] = {
{ LOG_STATUS_MSG, sizeof(log_Status),
"STAT", "QBfBBBBBB", "TimeUS,isFlying,isFlyProb,Armed,Safety,Crash,Still,Stage,Hit", "s--------", "F--------" },
{ LOG_QTUN_MSG, sizeof(QuadPlane::log_QControl_Tuning),
"QTUN", "Qffffhhfffff", "TimeUS,AngBst,ThrOut,DAlt,Alt,DCRt,CRt,DVx,DVy,DAx,DAy,TMix", "s--mmnnnnoo-", "F--BBBB0000-" },
"QTUN", "Qffffffeccf", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DCRt,CRt,TMix", "s----mmmnn-", "F----00000-" },
{ LOG_AOA_SSA_MSG, sizeof(log_AOA_SSA),
"AOA", "Qff", "TimeUS,AOA,SSA", "sdd", "F00" },
{ LOG_PIQR_MSG, sizeof(log_PID), \

22
ArduPlane/quadplane.cpp
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@ -2321,21 +2321,25 @@ bool QuadPlane::verify_vtol_land(void)
// Write a control tuning packet
void QuadPlane::Log_Write_QControl_Tuning()
{
const Vector3f &desired_velocity = pos_control->get_desired_velocity();
const Vector3f &accel_target = pos_control->get_accel_target();
float des_alt_m = 0.0f;
int16_t target_climb_rate_cms = 0;
if (plane.control_mode != QSTABILIZE) {
des_alt_m = pos_control->get_alt_target() / 100.0f;
target_climb_rate_cms = pos_control->get_vel_target_z();
}
struct log_QControl_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_QTUN_MSG),
time_us : AP_HAL::micros64(),
throttle_in : attitude_control->get_throttle_in(),
angle_boost : attitude_control->angle_boost(),
throttle_out : motors->get_throttle(),
desired_alt : pos_control->get_alt_target() / 100.0f,
throttle_hover : motors->get_throttle_hover(),
desired_alt : des_alt_m,
inav_alt : inertial_nav.get_altitude() / 100.0f,
desired_climb_rate : (int16_t)pos_control->get_vel_target_z(),
climb_rate : (int16_t)inertial_nav.get_velocity_z(),
dvx : desired_velocity.x*0.01f,
dvy : desired_velocity.y*0.01f,
dax : accel_target.x*0.01f,
day : accel_target.y*0.01f,
baro_alt : int32_t(plane.barometer.get_altitude() * 100),
target_climb_rate : target_climb_rate_cms,
climb_rate : int16_t(inertial_nav.get_velocity_z()),
throttle_mix : attitude_control->get_throttle_mix(),
};
plane.DataFlash.WriteBlock(&pkt, sizeof(pkt));

9
ArduPlane/quadplane.h
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@ -120,16 +120,15 @@ public:
struct PACKED log_QControl_Tuning {
LOG_PACKET_HEADER;
uint64_t time_us;
float throttle_in;
float angle_boost;
float throttle_out;
float throttle_hover;
float desired_alt;
float inav_alt;
int16_t desired_climb_rate;
int32_t baro_alt;
int16_t target_climb_rate;
int16_t climb_rate;
float dvx;
float dvy;
float dax;
float day;
float throttle_mix;
};