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Rover: STR dataflash logging gets turn rate 

also get turn rate and lat accel from attitude controller
This commit is contained in:
Randy Mackay 2017-12-08 10:21:37 +09:00
parent 8e80490098
commit efae648461
1 changed files with 15 additions and 5 deletions
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20
APMrover2/Log.cpp
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@ -40,18 +40,28 @@ void Rover::Log_Write_Performance()
struct PACKED log_Steering {
LOG_PACKET_HEADER;
uint64_t time_us;
float demanded_accel;
float achieved_accel;
int16_t steering_in;
float steering_out;
float desired_lat_accel;
float lat_accel;
float desired_turn_rate;
float turn_rate;
};
// Write a steering packet
void Rover::Log_Write_Steering()
{
float lat_accel = DataFlash.quiet_nanf();
g2.attitude_control.get_lat_accel(lat_accel);
struct log_Steering pkt = {
LOG_PACKET_HEADER_INIT(LOG_STEERING_MSG),
time_us : AP_HAL::micros64(),
demanded_accel : control_mode->lateral_acceleration,
achieved_accel : ahrs.groundspeed() * ins.get_gyro().z,
steering_in : channel_steer->get_control_in(),
steering_out : g2.motors.get_steering(),
desired_lat_accel : g2.attitude_control.get_desired_lat_accel(),
lat_accel : lat_accel,
desired_turn_rate : degrees(g2.attitude_control.get_desired_turn_rate()),
turn_rate : degrees(ahrs.get_yaw_rate_earth())
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
@ -347,7 +357,7 @@ const LogStructure Rover::log_structure[] = {
{ LOG_ARM_DISARM_MSG, sizeof(log_Arm_Disarm),
"ARM", "QBH", "TimeUS,ArmState,ArmChecks", "s--", "F--" },
{ LOG_STEERING_MSG, sizeof(log_Steering),
"STER", "Qff", "TimeUS,Demanded,Achieved", "so?", "F0?" },
"STER", "Qhfffff", "TimeUS,SteerIn,SteerOut,DesLatAcc,LatAcc,DesTurnRate,TurnRate", "s--ookk", "F--0000" },
{ LOG_GUIDEDTARGET_MSG, sizeof(log_GuidedTarget),
"GUID", "QBffffff", "TimeUS,Type,pX,pY,pZ,vX,vY,vZ", "s-mmmnnn", "F-000000" },
{ LOG_ERROR_MSG, sizeof(log_Error),