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AP_Logger: move logging of PSC messages into AC_AttitudeControl

This commit is contained in:
Peter Barker 2024-02-28 23:23:14 +11:00 committed by Peter Barker
parent 3165ec694c
commit f4df89b85b
3 changed files with 3 additions and 103 deletions
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7
libraries/AP_Logger/AP_Logger.h
View File

@ -273,9 +273,6 @@ public:
const class RallyLocation &rally_point);
void Write_SRTL(bool active, uint16_t num_points, uint16_t max_points, uint8_t action, const Vector3f& point);
void Write_Winch(bool healthy, bool thread_end, bool moving, bool clutch, uint8_t mode, float desired_length, float length, float desired_rate, uint16_t tension, float voltage, int8_t temp);
void Write_PSCN(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel);
void Write_PSCE(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel);
void Write_PSCD(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel);
void Write(const char *name, const char *labels, const char *fmt, ...);
void Write(const char *name, const char *labels, const char *units, const char *mults, const char *fmt, ...);
@ -598,10 +595,6 @@ private:
/* end support for retrieving logs via mavlink: */
// convenience method for writing out the identical NED PIDs - and
// to save bytes
void Write_PSCx(LogMessages ID, float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel);
#if HAL_LOGGER_FILE_CONTENTS_ENABLED
void log_file_content(FileContent &file_content, const char *filename);
void file_content_update(FileContent &file_content);

33
libraries/AP_Logger/LogFile.cpp
View File

@ -550,37 +550,4 @@ void AP_Logger::Write_Winch(bool healthy, bool thread_end, bool moving, bool clu
WriteBlock(&pkt, sizeof(pkt));
}
// a convenience function for writing out the position controller PIDs
void AP_Logger::Write_PSCx(LogMessages id, float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel)
{
const struct log_PSCx pkt{
LOG_PACKET_HEADER_INIT(id),
time_us : AP_HAL::micros64(),
pos_target : pos_target * 0.01f,
pos : pos * 0.01f,
vel_desired : vel_desired * 0.01f,
vel_target : vel_target * 0.01f,
vel : vel * 0.01f,
accel_desired : accel_desired * 0.01f,
accel_target : accel_target * 0.01f,
accel : accel * 0.01f
};
WriteBlock(&pkt, sizeof(pkt));
}
void AP_Logger::Write_PSCN(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel)
{
Write_PSCx(LOG_PSCN_MSG, pos_target, pos, vel_desired, vel_target, vel, accel_desired, accel_target, accel);
}
void AP_Logger::Write_PSCE(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel)
{
Write_PSCx(LOG_PSCE_MSG, pos_target, pos, vel_desired, vel_target, vel, accel_desired, accel_target, accel);
}
void AP_Logger::Write_PSCD(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel)
{
Write_PSCx(LOG_PSCD_MSG, pos_target, pos, vel_desired, vel_target, vel, accel_desired, accel_target, accel);
}
#endif // HAL_LOGGING_ENABLED

66
libraries/AP_Logger/LogStructure.h
View File

@ -143,6 +143,7 @@ const struct MultiplierStructure log_Multipliers[] = {
#include <AP_RPM/LogStructure.h>
#include <AC_Fence/LogStructure.h>
#include <AP_Landing/LogStructure.h>
#include <AC_AttitudeControl/LogStructure.h>
// structure used to define logging format
// It is packed on ChibiOS to save flash space; however, this causes problems
@ -607,20 +608,6 @@ struct PACKED log_Winch {
int8_t temp;
};
// position controller per-axis logging
struct PACKED log_PSCx {
LOG_PACKET_HEADER;
uint64_t time_us;
float pos_target;
float pos;
float vel_desired;
float vel_target;
float vel;
float accel_desired;
float accel_target;
float accel;
};
// thread stack usage
struct PACKED log_STAK {
LOG_PACKET_HEADER;
@ -685,10 +672,6 @@ struct PACKED log_VER {
#define PID_UNITS "s-----------"
#define PID_MULTS "F-----------"
#define PIDx_FMT "Qffffffff"
#define PIDx_UNITS "smmnnnooo"
#define PIDx_MULTS "F00000000"
// @LoggerMessage: ADSB
// @Description: Automatic Dependent Serveillance - Broadcast detected vehicle information
// @Field: TimeUS: Time since system startup
@ -1150,42 +1133,6 @@ struct PACKED log_VER {
// @Field: Vcc: Voltage to Motor
// @Field: Temp: Motor temperature
// @LoggerMessage: PSCN
// @Description: Position Control North
// @Field: TimeUS: Time since system startup
// @Field: TPN: Target position relative to EKF origin
// @Field: PN: Position relative to EKF origin
// @Field: DVN: Desired velocity North
// @Field: TVN: Target velocity North
// @Field: VN: Velocity North
// @Field: DAN: Desired acceleration North
// @Field: TAN: Target acceleration North
// @Field: AN: Acceleration North
// @LoggerMessage: PSCE
// @Description: Position Control East
// @Field: TimeUS: Time since system startup
// @Field: TPE: Target position relative to EKF origin
// @Field: PE: Position relative to EKF origin
// @Field: DVE: Desired velocity East
// @Field: TVE: Target velocity East
// @Field: VE: Velocity East
// @Field: DAE: Desired acceleration East
// @Field: TAE: Target acceleration East
// @Field: AE: Acceleration East
// @LoggerMessage: PSCD
// @Description: Position Control Down
// @Field: TimeUS: Time since system startup
// @Field: TPD: Target position relative to EKF origin
// @Field: PD: Position relative to EKF origin
// @Field: DVD: Desired velocity Down
// @Field: TVD: Target velocity Down
// @Field: VD: Velocity Down
// @Field: DAD: Desired acceleration Down
// @Field: TAD: Target acceleration Down
// @Field: AD: Acceleration Down
// @LoggerMessage: STAK
// @Description: Stack information
// @Field: TimeUS: Time since system startup
@ -1344,12 +1291,7 @@ LOG_STRUCTURE_FROM_VISUALODOM \
"ERR", "QBB", "TimeUS,Subsys,ECode", "s--", "F--" }, \
{ LOG_WINCH_MSG, sizeof(log_Winch), \
"WINC", "QBBBBBfffHfb", "TimeUS,Heal,ThEnd,Mov,Clut,Mode,DLen,Len,DRate,Tens,Vcc,Temp", "s-----mmn?vO", "F-----000000" }, \
{ LOG_PSCN_MSG, sizeof(log_PSCx), \
"PSCN", PIDx_FMT, "TimeUS,TPN,PN,DVN,TVN,VN,DAN,TAN,AN", PIDx_UNITS, PIDx_MULTS }, \
{ LOG_PSCE_MSG, sizeof(log_PSCx), \
"PSCE", PIDx_FMT, "TimeUS,TPE,PE,DVE,TVE,VE,DAE,TAE,AE", PIDx_UNITS, PIDx_MULTS }, \
{ LOG_PSCD_MSG, sizeof(log_PSCx), \
"PSCD", PIDx_FMT, "TimeUS,TPD,PD,DVD,TVD,VD,DAD,TAD,AD", PIDx_UNITS, PIDx_MULTS }, \
LOG_STRUCTURE_FROM_AC_ATTITUDECONTROL, \
{ LOG_STAK_MSG, sizeof(log_STAK), \
"STAK", "QBBHHN", "TimeUS,Id,Pri,Total,Free,Name", "s#----", "F-----", true }, \
{ LOG_FILE_MSG, sizeof(log_File), \
@ -1434,9 +1376,7 @@ enum LogMessages : uint8_t {
LOG_ADSB_MSG,
LOG_ARM_DISARM_MSG,
LOG_WINCH_MSG,
LOG_PSCN_MSG,
LOG_PSCE_MSG,
LOG_PSCD_MSG,
LOG_IDS_FROM_AC_ATTITUDECONTROL,
LOG_IDS_FROM_PRECLAND,
LOG_IDS_FROM_AIS,
LOG_STAK_MSG,