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Plane: reduce QTUN log rate to 25Hz

This commit is contained in:
Mark Whitehorn 2019-10-19 09:19:29 -06:00 committed by Andrew Tridgell
parent f2489b6405
commit f735414bf1
2 changed files with 14 additions and 2 deletions
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13
ArduPlane/quadplane.cpp
View File

@ -1920,9 +1920,18 @@ void QuadPlane::motors_output(bool run_rate_controller)
motors->output();
if (motors->armed() && motors->get_spool_state() != AP_Motors::SpoolState::SHUT_DOWN) {
plane.logger.Write_Rate(ahrs_view, *motors, *attitude_control, *pos_control);
Log_Write_QControl_Tuning();
const uint32_t now = AP_HAL::millis();
// log RATE at main loop rate
plane.logger.Write_Rate(ahrs_view, *motors, *attitude_control, *pos_control);
// log QTUN at 25 Hz
if (now - last_qtun_log_ms > 40) {
last_qtun_log_ms = now;
Log_Write_QControl_Tuning();
}
// log CTRL at 10 Hz
if (now - last_ctrl_log_ms > 100) {
last_ctrl_log_ms = now;
attitude_control->control_monitor_log();

3
ArduPlane/quadplane.h
View File

@ -419,6 +419,9 @@ private:
// time of last control log message
uint32_t last_ctrl_log_ms;
// time of last QTUN log message
uint32_t last_qtun_log_ms;
// types of tilt mechanisms
enum {TILT_TYPE_CONTINUOUS =0,
TILT_TYPE_BINARY =1,