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Plane: always log QPOS when changing control state

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This commit is contained in:
Andrew Tridgell 2021-09-27 11:56:29 +10:00
parent 9d0b7f8efe
commit fd5faa866f
2 changed files with 14 additions and 4 deletions
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17
ArduPlane/quadplane.cpp
View File

@ -2090,6 +2090,17 @@ void QuadPlane::poscontrol_init_approach(void)
} }
} }
/*
log the QPOS message
*/
void QuadPlane::log_QPOS(void)
{
AP::logger().WriteStreaming("QPOS", "TimeUS,State,Dist", "QBf",
AP_HAL::micros64(),
poscontrol.get_state(),
plane.auto_state.wp_distance);
}
/* /*
change position control state change position control state
*/ */
@ -2116,6 +2127,7 @@ void QuadPlane::PosControlState::set_state(enum position_control_state s)
// reset throttle descent control // reset throttle descent control
qp.thr_ctrl_land = false; qp.thr_ctrl_land = false;
} }
qp.log_QPOS();
} }
state = s; state = s;
last_state_change_ms = AP_HAL::millis(); last_state_change_ms = AP_HAL::millis();
@ -2551,10 +2563,7 @@ void QuadPlane::vtol_position_controller(void)
if (now_ms - poscontrol.last_log_ms >= 40) { if (now_ms - poscontrol.last_log_ms >= 40) {
// log poscontrol at 25Hz // log poscontrol at 25Hz
poscontrol.last_log_ms = now_ms; poscontrol.last_log_ms = now_ms;
AP::logger().WriteStreaming("QPOS", "TimeUS,State,Dist", "QBf", log_QPOS();
AP_HAL::micros64(),
poscontrol.get_state(),
plane.auto_state.wp_distance);
} }
} }

1
ArduPlane/quadplane.h
View File

@ -249,6 +249,7 @@ private:
bool should_relax(void); bool should_relax(void);
void motors_output(bool run_rate_controller = true); void motors_output(bool run_rate_controller = true);
void Log_Write_QControl_Tuning(); void Log_Write_QControl_Tuning();
void log_QPOS(void);
float landing_descent_rate_cms(float height_above_ground); float landing_descent_rate_cms(float height_above_ground);
// setup correct aux channels for frame class // setup correct aux channels for frame class