Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-21 16:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: add video stab log bit and log in ahrs_update

Browse Source
This commit is contained in:
Iampete1 2021-12-15 19:09:08 +00:00 committed by Andrew Tridgell
parent 9c52752e16
commit d473344177
3 changed files with 6 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduPlane/ArduPlane.cpp
View File

@ -189,6 +189,10 @@ void Plane::ahrs_update()
// update inertial_nav for quadplane
quadplane.inertial_nav.update();
#endif
if (should_log(MASK_LOG_VIDEO_STABILISATION)) {
ahrs.write_video_stabilisation();
}
}
/*

2
ArduPlane/Parameters.cpp
View File

@ -618,7 +618,7 @@ const AP_Param::Info Plane::var_info[] = {
// @Param: LOG_BITMASK
// @DisplayName: Log bitmask
// @Description: Bitmap of what on-board log types to enable. This value is made up of the sum of each of the log types you want to be saved. It is usually best just to enable all log types by setting this to 65535. The individual bits are ATTITUDE_FAST=1, ATTITUDE_MEDIUM=2, GPS=4, PerformanceMonitoring=8, ControlTuning=16, NavigationTuning=32, Mode=64, IMU=128, Commands=256, Battery=512, Compass=1024, TECS=2048, Camera=4096, RCandServo=8192, Sonar=16384, Arming=32768, FullLogs=65535
// @Bitmask: 0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:MODE,7:IMU,8:CMD,9:CURRENT,10:COMPASS,11:TECS,12:CAMERA,13:RC,14:SONAR,15:ARM/DISARM,19:IMU_RAW,20:ATTITUDE_FULLRATE
// @Bitmask: 0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:MODE,7:IMU,8:CMD,9:CURRENT,10:COMPASS,11:TECS,12:CAMERA,13:RC,14:SONAR,15:ARM/DISARM,19:IMU_RAW,20:ATTITUDE_FULLRATE,21:VideoStabilization
// @User: Advanced
GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),

1
ArduPlane/defines.h
View File

@ -118,6 +118,7 @@ enum log_messages {
// #define MASK_LOG_ARM_DISARM (1<<15)
#define MASK_LOG_IMU_RAW (1UL<<19)
#define MASK_LOG_ATTITUDE_FULLRATE (1U<<20)
#define MASK_LOG_VIDEO_STABILISATION (1UL<<21)
// altitude control algorithms
enum {