AP_Landing: add logging as new "LAND" field

libraries/AP_Landing/AP_Landing.cpp

@@ -143,6 +143,8 @@ const AP_Param::GroupInfo AP_Landing::var_info[] = {
 
 void AP_Landing::do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude)
 {
+    log(); // log old state so we get a nice transition from old to new here
+
     flags.commanded_go_around = false;
 
     switch (type) {
@@ -153,6 +155,8 @@ void AP_Landing::do_land(const AP_Mission::Mission_Command& cmd, const float rel
         // a incorrect type is handled in the verify_land
         break;
     }
+
+    log();
 }
 
 /*
@@ -162,16 +166,22 @@ void AP_Landing::do_land(const AP_Mission::Mission_Command& cmd, const float rel
 bool AP_Landing::verify_land(const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc,
         const float height, const float sink_rate, const float wp_proportion, const uint32_t last_flying_ms, const bool is_armed, const bool is_flying, const bool rangefinder_state_in_range)
 {
+    bool success = true;
+
     switch (type) {
     case TYPE_STANDARD_GLIDE_SLOPE:
-        return type_slope_verify_land(prev_WP_loc, next_WP_loc, current_loc,
+        success = type_slope_verify_land(prev_WP_loc, next_WP_loc, current_loc,
                 height, sink_rate, wp_proportion, last_flying_ms, is_armed, is_flying, rangefinder_state_in_range);
+        break;
     default:
         // returning TRUE while executing verify_land() will increment the
         // mission index which in many cases will trigger an RTL for end-of-mission
         GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Landing configuration error, invalid LAND_TYPE");
-        return true;
+        success = true;
+        break;
     }
+    log();
+    return success;
 }
 
 
@@ -196,6 +206,8 @@ bool AP_Landing::verify_abort_landing(const Location &prev_WP_loc, Location &nex
          // else we're in AUTO with a stopped mission and handle_auto_mode() will set RTL
      }
 
+     log();
+
      // make sure to always return false so it leaves the mission index alone
      return false;
 }
@@ -326,6 +338,8 @@ bool AP_Landing::restart_landing_sequence()
         // exit landing stages if we're no longer executing NAV_LAND
         update_flight_stage_fn();
     }
+
+    log();
     return success;
 }
 
@@ -390,18 +404,26 @@ int32_t AP_Landing::get_target_airspeed_cm(void)
  */
 bool AP_Landing::request_go_around(void)
 {
+    bool success = false;
+
     switch (type) {
     case TYPE_STANDARD_GLIDE_SLOPE:
-        return type_slope_request_go_around();
+        success = type_slope_request_go_around();
+        break;
     default:
-        return false;
+        break;
     }
+
+    log();
+    return success;
 }
 
 void AP_Landing::handle_flight_stage_change(const bool _in_landing_stage)
 {
+    log(); // log old value to plot discrete transitions
     flags.in_progress = _in_landing_stage;
     flags.commanded_go_around = false;
+    log();
 }
 
 /*
@@ -417,4 +439,14 @@ bool AP_Landing::is_complete(void) const
     }
 }
 
+void AP_Landing::log(void) const
+{
+    switch (type) {
+    case TYPE_STANDARD_GLIDE_SLOPE:
+        type_slope_log();
+        break;
+    default:
+        break;
+    }
+}
 

libraries/AP_Landing/AP_Landing.h

@@ -100,6 +100,7 @@ public:
     bool is_complete(void) const;
     void set_initial_slope(void) { initial_slope = slope; }
     bool is_expecting_impact(void) const;
+    void log(void) const;
 
     // landing altitude offset (meters)
     float alt_offset;
@@ -107,7 +108,7 @@ public:
 private:
 
     struct {
-    // denotes if a go-around has been commanded for landing
+        // denotes if a go-around has been commanded for landing
         bool commanded_go_around:1;
 
         // are we in auto and flight_stage is LAND
@@ -178,6 +179,7 @@ private:
     void type_slope_check_if_need_to_abort(const AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state);
     int32_t type_slope_constrain_roll(const int32_t desired_roll_cd, const int32_t level_roll_limit_cd);
     bool type_slope_request_go_around(void);
+    void type_slope_log(void) const;
     bool type_slope_is_complete(void) const;
     bool type_slope_is_flaring(void) const;
     bool type_slope_is_on_approach(void) const;

libraries/AP_Landing/AP_Landing_Slope.cpp

@@ -201,6 +201,7 @@ void AP_Landing::type_slope_adjust_landing_slope_for_rangefinder_bump(AP_Vehicle
             alt_offset = rangefinder_state.correction;
             flags.commanded_go_around = true;
             type_slope_flags.has_aborted_due_to_slope_recalc = true; // only allow this once.
+            log();
         }
     }
 }
@@ -375,3 +376,15 @@ bool AP_Landing::type_slope_is_complete(void) const
     return (type_slope_stage == SLOPE_STAGE_FINAL);
 }
 
+void AP_Landing::type_slope_log(void) const
+{
+    // log to DataFlash
+    DataFlash_Class::instance()->Log_Write("LAND", "TimeUS,stage,f1,f2,slope,slopeInit,altO", "QBBBfff",
+                                            AP_HAL::micros64(),
+                                            type_slope_stage,
+                                            flags,
+                                            type_slope_flags,
+                                            slope,
+                                            initial_slope,
+                                            alt_offset);
+}