mirror of https://github.com/ArduPilot/ardupilot
412 lines
12 KiB
C++
412 lines
12 KiB
C++
#include "Blimp.h"
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#if HAL_LOGGING_ENABLED
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// Code to Write and Read packets from AP_Logger log memory
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// Code to interact with the user to dump or erase logs
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struct PACKED log_FINI {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float Right;
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float Front;
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float Down;
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float Yaw;
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};
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struct PACKED log_FINO {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float Fin1_Amp;
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float Fin1_Off;
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float Fin2_Amp;
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float Fin2_Off;
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float Fin3_Amp;
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float Fin3_Off;
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float Fin4_Amp;
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float Fin4_Off;
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};
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//Write a fin input packet
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void Blimp::Write_FINI(float right, float front, float down, float yaw)
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{
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const struct log_FINI pkt {
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LOG_PACKET_HEADER_INIT(LOG_FINI_MSG),
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time_us : AP_HAL::micros64(),
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Right : right,
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Front : front,
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Down : down,
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Yaw : yaw
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};
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logger.WriteBlock(&pkt, sizeof(pkt));
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}
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//Write a fin output packet
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void Blimp::Write_FINO(float *amp, float *off)
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{
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const struct log_FINO pkt {
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LOG_PACKET_HEADER_INIT(LOG_FINO_MSG),
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time_us : AP_HAL::micros64(),
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Fin1_Amp : amp[0],
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Fin1_Off : off[0],
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Fin2_Amp : amp[1],
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Fin2_Off : off[1],
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Fin3_Amp : amp[2],
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Fin3_Off : off[2],
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Fin4_Amp : amp[3],
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Fin4_Off : off[3],
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};
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logger.WriteBlock(&pkt, sizeof(pkt));
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}
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struct PACKED log_Control_Tuning {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float throttle_in;
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float angle_boost;
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float throttle_out;
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float throttle_hover;
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float desired_alt;
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float inav_alt;
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int32_t baro_alt;
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float desired_rangefinder_alt;
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float rangefinder_alt;
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float terr_alt;
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int16_t target_climb_rate;
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int16_t climb_rate;
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};
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// Write PID packets
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void Blimp::Log_Write_PIDs()
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{
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logger.Write_PID(LOG_PIVN_MSG, pid_vel_xy.get_pid_info_x());
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logger.Write_PID(LOG_PIVE_MSG, pid_vel_xy.get_pid_info_y());
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logger.Write_PID(LOG_PIVD_MSG, pid_vel_z.get_pid_info());
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logger.Write_PID(LOG_PIVY_MSG, pid_vel_yaw.get_pid_info());
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logger.Write_PID(LOG_PIDN_MSG, pid_pos_xy.get_pid_info_x());
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logger.Write_PID(LOG_PIDE_MSG, pid_pos_xy.get_pid_info_y());
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logger.Write_PID(LOG_PIDD_MSG, pid_pos_z.get_pid_info());
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logger.Write_PID(LOG_PIDY_MSG, pid_pos_yaw.get_pid_info());
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}
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// Write an attitude packet
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void Blimp::Log_Write_Attitude()
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{
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//Attitude targets are all zero since Blimp doesn't have attitude control,
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//but the rest of the log message is useful.
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ahrs.Write_Attitude(Vector3f{0,0,0});
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}
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// Write an EKF and POS packet
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void Blimp::Log_Write_EKF_POS()
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{
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AP::ahrs().Log_Write();
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}
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struct PACKED log_Data_Int16t {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t id;
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int16_t data_value;
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};
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// Write an int16_t data packet
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UNUSED_FUNCTION
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void Blimp::Log_Write_Data(LogDataID id, int16_t value)
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{
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if (should_log(MASK_LOG_ANY)) {
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struct log_Data_Int16t pkt = {
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LOG_PACKET_HEADER_INIT(LOG_DATA_INT16_MSG),
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time_us : AP_HAL::micros64(),
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id : (uint8_t)id,
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data_value : value
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};
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logger.WriteCriticalBlock(&pkt, sizeof(pkt));
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}
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}
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struct PACKED log_Data_UInt16t {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t id;
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uint16_t data_value;
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};
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// Write an uint16_t data packet
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UNUSED_FUNCTION
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void Blimp::Log_Write_Data(LogDataID id, uint16_t value)
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{
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if (should_log(MASK_LOG_ANY)) {
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struct log_Data_UInt16t pkt = {
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LOG_PACKET_HEADER_INIT(LOG_DATA_UINT16_MSG),
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time_us : AP_HAL::micros64(),
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id : (uint8_t)id,
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data_value : value
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};
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logger.WriteCriticalBlock(&pkt, sizeof(pkt));
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}
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}
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struct PACKED log_Data_Int32t {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t id;
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int32_t data_value;
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};
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// Write an int32_t data packet
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void Blimp::Log_Write_Data(LogDataID id, int32_t value)
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{
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if (should_log(MASK_LOG_ANY)) {
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struct log_Data_Int32t pkt = {
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LOG_PACKET_HEADER_INIT(LOG_DATA_INT32_MSG),
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time_us : AP_HAL::micros64(),
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id : (uint8_t)id,
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data_value : value
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};
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logger.WriteCriticalBlock(&pkt, sizeof(pkt));
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}
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}
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struct PACKED log_Data_UInt32t {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t id;
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uint32_t data_value;
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};
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// Write a uint32_t data packet
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void Blimp::Log_Write_Data(LogDataID id, uint32_t value)
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{
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if (should_log(MASK_LOG_ANY)) {
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struct log_Data_UInt32t pkt = {
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LOG_PACKET_HEADER_INIT(LOG_DATA_UINT32_MSG),
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time_us : AP_HAL::micros64(),
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id : (uint8_t)id,
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data_value : value
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};
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logger.WriteCriticalBlock(&pkt, sizeof(pkt));
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}
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}
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struct PACKED log_Data_Float {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t id;
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float data_value;
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};
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// Write a float data packet
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UNUSED_FUNCTION
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void Blimp::Log_Write_Data(LogDataID id, float value)
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{
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if (should_log(MASK_LOG_ANY)) {
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struct log_Data_Float pkt = {
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LOG_PACKET_HEADER_INIT(LOG_DATA_FLOAT_MSG),
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time_us : AP_HAL::micros64(),
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id : (uint8_t)id,
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data_value : value
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};
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logger.WriteCriticalBlock(&pkt, sizeof(pkt));
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}
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}
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struct PACKED log_ParameterTuning {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t parameter; // parameter we are tuning, e.g. 39 is CH6_CIRCLE_RATE
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float tuning_value; // normalized value used inside tuning() function
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float tuning_min; // tuning minimum value
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float tuning_max; // tuning maximum value
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};
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void Blimp::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max)
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{
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struct log_ParameterTuning pkt_tune = {
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LOG_PACKET_HEADER_INIT(LOG_PARAMTUNE_MSG),
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time_us : AP_HAL::micros64(),
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parameter : param,
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tuning_value : tuning_val,
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tuning_min : tune_min,
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tuning_max : tune_max
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};
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logger.WriteBlock(&pkt_tune, sizeof(pkt_tune));
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}
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// type and unit information can be found in
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// libraries/AP_Logger/Logstructure.h; search for "log_Units" for
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// units and "Format characters" for field type information
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const struct LogStructure Blimp::log_structure[] = {
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LOG_COMMON_STRUCTURES,
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// @LoggerMessage: FINI
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// @Description: Fin input
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// @Field: TimeUS: Time since system startup
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// @Field: R: Right
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// @Field: F: Front
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// @Field: D: Down
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// @Field: Y: Yaw
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{
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LOG_FINI_MSG, sizeof(log_FINI),
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"FINI", "Qffff", "TimeUS,R,F,D,Y", "s----", "F----"
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},
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// @LoggerMessage: FINO
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// @Description: Fin output
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// @Field: TimeUS: Time since system startup
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// @Field: F1A: Fin 1 Amplitude
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// @Field: F1O: Fin 1 Offset
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// @Field: F2A: Fin 2 Amplitude
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// @Field: F2O: Fin 2 Offset
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// @Field: F3A: Fin 3 Amplitude
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// @Field: F3O: Fin 3 Offset
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// @Field: F4A: Fin 4 Amplitude
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// @Field: F4O: Fin 4 Offset
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{
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LOG_FINO_MSG, sizeof(log_FINO),
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"FINO", "Qffffffff", "TimeUS,F1A,F1O,F2A,F2O,F3A,F3O,F4A,F4O", "s--------", "F--------"
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},
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// @LoggerMessage: PIDD,PIVN,PIVE,PIVD,PIVY
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// @Description: Proportional/Integral/Derivative gain values
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// @Field: TimeUS: Time since system startup
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// @Field: Tar: desired value
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// @Field: Act: achieved value
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// @Field: Err: error between target and achieved
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// @Field: P: proportional part of PID
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// @Field: I: integral part of PID
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// @Field: D: derivative part of PID
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// @Field: FF: controller feed-forward portion of response
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// @Field: DFF: controller derivative feed-forward portion of response
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// @Field: Dmod: scaler applied to D gain to reduce limit cycling
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// @Field: SRate: slew rate
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// @Field: Flags: bitmask of PID state flags
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// @FieldBitmaskEnum: Flags: log_PID_Flags
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{
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LOG_PIDD_MSG, sizeof(log_PID),
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"PIDD", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS
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},
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{
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LOG_PIVN_MSG, sizeof(log_PID),
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"PIVN", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS
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},
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{
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LOG_PIVE_MSG, sizeof(log_PID),
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"PIVE", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS
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},
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{
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LOG_PIVD_MSG, sizeof(log_PID),
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"PIVD", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS
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},
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{
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LOG_PIVY_MSG, sizeof(log_PID),
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"PIVY", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS
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},
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// @LoggerMessage: PTUN
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// @Description: Parameter Tuning information
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// @URL: https://ardupilot.org/blimp/docs/tuning.html#in-flight-tuning
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// @Field: TimeUS: Time since system startup
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// @Field: Param: Parameter being tuned
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// @Field: TunVal: Normalized value used inside tuning() function
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// @Field: TunMin: Tuning minimum limit
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// @Field: TunMax: Tuning maximum limit
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{
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LOG_PARAMTUNE_MSG, sizeof(log_ParameterTuning),
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"PTUN", "QBfff", "TimeUS,Param,TunVal,TunMin,TunMax", "s----", "F----"
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},
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// @LoggerMessage: CTUN
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// @Description: Control Tuning information
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// @Field: TimeUS: Time since system startup
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// @Field: ThI: throttle input
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// @Field: ABst: angle boost
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// @Field: ThO: throttle output
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// @Field: ThH: calculated hover throttle
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// @Field: DAlt: desired altitude
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// @Field: Alt: achieved altitude
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// @Field: BAlt: barometric altitude
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// @Field: DSAlt: desired rangefinder altitude
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// @Field: SAlt: achieved rangefinder altitude
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// @Field: TAlt: terrain altitude
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// @Field: DCRt: desired climb rate
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// @Field: CRt: climb rate
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// @LoggerMessage: D16
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// @Description: Generic 16-bit-signed-integer storage
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// @Field: TimeUS: Time since system startup
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// @Field: Id: Data type identifier
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// @Field: Value: Value
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// @LoggerMessage: DU16
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// @Description: Generic 16-bit-unsigned-integer storage
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// @Field: TimeUS: Time since system startup
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// @Field: Id: Data type identifier
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// @Field: Value: Value
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// @LoggerMessage: D32
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// @Description: Generic 32-bit-signed-integer storage
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// @Field: TimeUS: Time since system startup
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// @Field: Id: Data type identifier
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// @Field: Value: Value
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// @LoggerMessage: DFLT
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// @Description: Generic float storage
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// @Field: TimeUS: Time since system startup
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// @Field: Id: Data type identifier
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// @Field: Value: Value
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// @LoggerMessage: DU32
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// @Description: Generic 32-bit-unsigned-integer storage
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// @Field: TimeUS: Time since system startup
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// @Field: Id: Data type identifier
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// @Field: Value: Value
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{
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LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning),
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"CTUN", "Qffffffefffhh", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DSAlt,SAlt,TAlt,DCRt,CRt", "s----mmmmmmnn", "F----00B000BB"
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},
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{
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LOG_DATA_INT16_MSG, sizeof(log_Data_Int16t),
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"D16", "QBh", "TimeUS,Id,Value", "s--", "F--"
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},
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{
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LOG_DATA_UINT16_MSG, sizeof(log_Data_UInt16t),
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"DU16", "QBH", "TimeUS,Id,Value", "s--", "F--"
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},
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{
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LOG_DATA_INT32_MSG, sizeof(log_Data_Int32t),
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"D32", "QBi", "TimeUS,Id,Value", "s--", "F--"
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},
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{
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LOG_DATA_UINT32_MSG, sizeof(log_Data_UInt32t),
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"DU32", "QBI", "TimeUS,Id,Value", "s--", "F--"
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},
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{
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LOG_DATA_FLOAT_MSG, sizeof(log_Data_Float),
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"DFLT", "QBf", "TimeUS,Id,Value", "s--", "F--"
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},
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};
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uint8_t Blimp::get_num_log_structures() const
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{
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return ARRAY_SIZE(log_structure);
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}
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void Blimp::Log_Write_Vehicle_Startup_Messages()
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{
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// only 200(?) bytes are guaranteed by AP_Logger
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logger.Write_MessageF("Frame: %s", get_frame_string());
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logger.Write_Mode((uint8_t)control_mode, control_mode_reason);
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ahrs.Log_Write_Home_And_Origin();
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gps.Write_AP_Logger_Log_Startup_messages();
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}
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#endif // HAL_LOGGING_ENABLED
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