Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: added PIQ messages for quadplane PIDs 

keep them separate from fixed wing PIDs, so we can watch the
interaction between the PIDs in transitions
This commit is contained in:
Andrew Tridgell 2017-03-13 17:22:41 +11:00
parent e3bca10e9a
commit dd4f56dd98
2 changed files with 29 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

39
ArduPlane/Log.cpp
View File

@ -163,22 +163,23 @@ void Plane::Log_Write_Attitude(void)
targets.z = 0; //Plane does not have the concept of navyaw. This is a placeholder.
DataFlash.Log_Write_Attitude(ahrs, targets);
if (quadplane.in_vtol_mode()) {
DataFlash.Log_Write_PID(LOG_PIDR_MSG, quadplane.attitude_control->get_rate_roll_pid().get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDP_MSG, quadplane.attitude_control->get_rate_pitch_pid().get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDY_MSG, quadplane.attitude_control->get_rate_yaw_pid().get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDA_MSG, quadplane.pid_accel_z.get_pid_info() );
} else {
if (quadplane.in_vtol_mode() || quadplane.in_assisted_flight()) {
// log quadplane PIDs separately from fixed wing PIDs
DataFlash.Log_Write_PID(LOG_PIQR_MSG, quadplane.attitude_control->get_rate_roll_pid().get_pid_info());
DataFlash.Log_Write_PID(LOG_PIQP_MSG, quadplane.attitude_control->get_rate_pitch_pid().get_pid_info());
DataFlash.Log_Write_PID(LOG_PIQY_MSG, quadplane.attitude_control->get_rate_yaw_pid().get_pid_info());
DataFlash.Log_Write_PID(LOG_PIQA_MSG, quadplane.pid_accel_z.get_pid_info() );
}
DataFlash.Log_Write_PID(LOG_PIDR_MSG, rollController.get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDP_MSG, pitchController.get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDY_MSG, yawController.get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDS_MSG, steerController.get_pid_info());
if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) {
const DataFlash_Class::PID_Info *landing_info;
DataFlash.Log_Write_PID(LOG_PIDR_MSG, rollController.get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDP_MSG, pitchController.get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDY_MSG, yawController.get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDS_MSG, steerController.get_pid_info());
if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) {
landing_info = landing.get_pid_info();
if (landing_info != nullptr) { // only log LANDING PID's while in landing
DataFlash.Log_Write_PID(LOG_PIDL_MSG, *landing_info);
}
landing_info = landing.get_pid_info();
if (landing_info != nullptr) { // only log LANDING PID's while in landing
DataFlash.Log_Write_PID(LOG_PIDL_MSG, *landing_info);
}
}
@ -500,6 +501,14 @@ const struct LogStructure Plane::log_structure[] = {
{ LOG_OPTFLOW_MSG, sizeof(log_Optflow),
"OF", "QBffff", "TimeUS,Qual,flowX,flowY,bodyX,bodyY" },
#endif
{ LOG_PIQR_MSG, sizeof(log_PID), \
"PIQR", "Qffffff", "TimeUS,Des,P,I,D,FF,AFF" }, \
{ LOG_PIQP_MSG, sizeof(log_PID), \
"PIQP", "Qffffff", "TimeUS,Des,P,I,D,FF,AFF" }, \
{ LOG_PIQY_MSG, sizeof(log_PID), \
"PIQY", "Qffffff", "TimeUS,Des,P,I,D,FF,AFF" }, \
{ LOG_PIQA_MSG, sizeof(log_PID), \
"PIQA", "Qffffff", "TimeUS,Des,P,I,D,FF,AFF" }, \
};
#if CLI_ENABLED == ENABLED

6
ArduPlane/defines.h
View File

@ -141,7 +141,11 @@ enum log_messages {
LOG_QTUN_MSG,
LOG_PARAMTUNE_MSG,
LOG_THERMAL_MSG,
LOG_VARIO_MSG
LOG_VARIO_MSG,
LOG_PIQR_MSG,
LOG_PIQP_MSG,
LOG_PIQY_MSG,
LOG_PIQA_MSG,
};
#define MASK_LOG_ATTITUDE_FAST (1<<0)