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APM_Control: added logging of parameter changes in AUTOTUNE

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this will make it easier to analyse logs
This commit is contained in:
Andrew Tridgell 2014-04-30 22:22:13 +10:00
parent 92714b09d2
commit eb1fb63e57
2 changed files with 45 additions and 8 deletions
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49
libraries/APM_Control/AP_AutoTune.cpp
View File

@ -260,31 +260,66 @@ void AP_AutoTune::check_save(void)
last_save_ms = hal.scheduler->millis();
}
/*
log a parameter change from autotune
*/
void AP_AutoTune::log_param_change(float v, const prog_char_t *suffix)
{
if (!dataflash.logging_started()) {
return;
}
char key[AP_MAX_NAME_SIZE+1];
if (type == AUTOTUNE_ROLL) {
strncpy_P(key, PSTR("RLL2SRV_"), 8);
strncpy_P(&key[8], suffix, AP_MAX_NAME_SIZE-8);
} else {
strncpy_P(key, PSTR("PTCH2SRV_"), 9);
strncpy_P(&key[9], suffix, AP_MAX_NAME_SIZE-9);
}
key[AP_MAX_NAME_SIZE] = 0;
dataflash.Log_Write_Parameter(key, v);
}
/*
set a float and save a float if it has changed by more than
0.1%. This reduces the number of insignificant EEPROM writes
*/
void AP_AutoTune::save_float_if_changed(AP_Float &v, float value)
void AP_AutoTune::save_float_if_changed(AP_Float &v, float value, const prog_char_t *suffix)
{
float old_value = v.get();
v.set(value);
if (value <= 0 || fabsf((value-old_value)/value) > 0.001f) {
v.save();
log_param_change(v.get(), suffix);
}
}
/*
set a int16 and save if changed
*/
void AP_AutoTune::save_int16_if_changed(AP_Int16 &v, int16_t value, const prog_char_t *suffix)
{
int16_t old_value = v.get();
v.set(value);
if (old_value != v.get()) {
v.save();
log_param_change(v.get(), suffix);
}
}
/*
save a set of gains
*/
void AP_AutoTune::save_gains(const ATGains &v)
{
current = last_save;
save_float_if_changed(current.tau, v.tau);
save_float_if_changed(current.P, v.P);
save_float_if_changed(current.I, v.I);
save_float_if_changed(current.D, v.D);
current.rmax.set_and_save_ifchanged(v.rmax);
current.imax.set_and_save_ifchanged(v.imax);
save_float_if_changed(current.tau, v.tau, PSTR("TCONST"));
save_float_if_changed(current.P, v.P, PSTR("P"));
save_float_if_changed(current.I, v.I, PSTR("I"));
save_float_if_changed(current.D, v.D, PSTR("D"));
save_int16_if_changed(current.rmax, v.rmax, PSTR("RMAX"));
save_int16_if_changed(current.imax, v.imax, PSTR("IMAX"));
last_save = current;
}

4
libraries/APM_Control/AP_AutoTune.h
View File

@ -95,7 +95,9 @@ private:
void write_log_headers(void);
void write_log(float servo, float demanded, float achieved);
void save_float_if_changed(AP_Float &v, float value);
void log_param_change(float v, const prog_char_t *suffix);
void save_float_if_changed(AP_Float &v, float value, const prog_char_t *suffix);
void save_int16_if_changed(AP_Int16 &v, int16_t value, const prog_char_t *suffix);
};
#endif // __AP_AUTOTUNE_H__