mirror of https://github.com/ArduPilot/ardupilot
591 lines
19 KiB
C++
591 lines
19 KiB
C++
#include "Copter.h"
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#include <AP_InertialSensor/AP_InertialSensor_rate_config.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_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 a control tuning packet
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void Copter::Log_Write_Control_Tuning()
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{
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// get terrain altitude
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float terr_alt = 0.0f;
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#if AP_TERRAIN_AVAILABLE
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if (!terrain.height_above_terrain(terr_alt, true)) {
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terr_alt = logger.quiet_nan();
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}
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#endif
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float des_alt_m = 0.0f;
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int16_t target_climb_rate_cms = 0;
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if (!flightmode->has_manual_throttle()) {
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des_alt_m = pos_control->get_pos_target_z_cm() * 0.01f;
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target_climb_rate_cms = pos_control->get_vel_target_z_cms();
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}
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float desired_rangefinder_alt;
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#if AP_RANGEFINDER_ENABLED
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if (!surface_tracking.get_target_dist_for_logging(desired_rangefinder_alt)) {
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desired_rangefinder_alt = AP::logger().quiet_nan();
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}
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#else
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// get surface tracking alts
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desired_rangefinder_alt = AP::logger().quiet_nan();
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#endif
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struct log_Control_Tuning pkt = {
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LOG_PACKET_HEADER_INIT(LOG_CONTROL_TUNING_MSG),
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time_us : AP_HAL::micros64(),
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throttle_in : attitude_control->get_throttle_in(),
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angle_boost : attitude_control->angle_boost(),
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throttle_out : motors->get_throttle(),
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throttle_hover : motors->get_throttle_hover(),
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desired_alt : des_alt_m,
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inav_alt : inertial_nav.get_position_z_up_cm() * 0.01f,
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baro_alt : baro_alt,
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desired_rangefinder_alt : desired_rangefinder_alt,
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#if AP_RANGEFINDER_ENABLED
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rangefinder_alt : surface_tracking.get_dist_for_logging(),
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#else
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rangefinder_alt : AP::logger().quiet_nanf(),
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#endif
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terr_alt : terr_alt,
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target_climb_rate : target_climb_rate_cms,
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climb_rate : int16_t(inertial_nav.get_velocity_z_up_cms()) // float -> int16_t
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};
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logger.WriteBlock(&pkt, sizeof(pkt));
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}
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// Write an attitude packet
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void Copter::Log_Write_Attitude()
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{
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attitude_control->Write_ANG();
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}
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void Copter::Log_Write_Rate()
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{
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attitude_control->Write_Rate(*pos_control);
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}
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// Write PIDS packets
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void Copter::Log_Write_PIDS()
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{
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if (should_log(MASK_LOG_PID)) {
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logger.Write_PID(LOG_PIDR_MSG, attitude_control->get_rate_roll_pid().get_pid_info());
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logger.Write_PID(LOG_PIDP_MSG, attitude_control->get_rate_pitch_pid().get_pid_info());
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logger.Write_PID(LOG_PIDY_MSG, attitude_control->get_rate_yaw_pid().get_pid_info());
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logger.Write_PID(LOG_PIDA_MSG, pos_control->get_accel_z_pid().get_pid_info() );
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if (should_log(MASK_LOG_NTUN) && (flightmode->requires_GPS() || landing_with_GPS())) {
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logger.Write_PID(LOG_PIDN_MSG, pos_control->get_vel_xy_pid().get_pid_info_x());
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logger.Write_PID(LOG_PIDE_MSG, pos_control->get_vel_xy_pid().get_pid_info_y());
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}
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}
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}
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// Write an EKF and POS packet
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void Copter::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 Copter::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 Copter::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 Copter::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 Copter::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 Copter::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 Copter::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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void Copter::Log_Video_Stabilisation()
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{
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if (!should_log(MASK_LOG_VIDEO_STABILISATION)) {
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return;
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}
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ahrs.write_video_stabilisation();
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}
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struct PACKED log_SysIdD {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float waveform_time;
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float waveform_sample;
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float waveform_freq;
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float angle_x;
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float angle_y;
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float angle_z;
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float accel_x;
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float accel_y;
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float accel_z;
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};
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// Write an rate packet
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void Copter::Log_Write_SysID_Data(float waveform_time, float waveform_sample, float waveform_freq, float angle_x, float angle_y, float angle_z, float accel_x, float accel_y, float accel_z)
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{
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#if MODE_SYSTEMID_ENABLED
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struct log_SysIdD pkt_sidd = {
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LOG_PACKET_HEADER_INIT(LOG_SYSIDD_MSG),
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time_us : AP_HAL::micros64(),
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waveform_time : waveform_time,
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waveform_sample : waveform_sample,
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waveform_freq : waveform_freq,
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angle_x : angle_x,
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angle_y : angle_y,
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angle_z : angle_z,
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accel_x : accel_x,
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accel_y : accel_y,
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accel_z : accel_z
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};
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logger.WriteBlock(&pkt_sidd, sizeof(pkt_sidd));
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#endif
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}
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struct PACKED log_SysIdS {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t systemID_axis;
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float waveform_magnitude;
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float frequency_start;
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float frequency_stop;
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float time_fade_in;
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float time_const_freq;
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float time_record;
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float time_fade_out;
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};
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// Write an rate packet
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void Copter::Log_Write_SysID_Setup(uint8_t systemID_axis, float waveform_magnitude, float frequency_start, float frequency_stop, float time_fade_in, float time_const_freq, float time_record, float time_fade_out)
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{
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#if MODE_SYSTEMID_ENABLED
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struct log_SysIdS pkt_sids = {
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LOG_PACKET_HEADER_INIT(LOG_SYSIDS_MSG),
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time_us : AP_HAL::micros64(),
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systemID_axis : systemID_axis,
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waveform_magnitude : waveform_magnitude,
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frequency_start : frequency_start,
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frequency_stop : frequency_stop,
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time_fade_in : time_fade_in,
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time_const_freq : time_const_freq,
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time_record : time_record,
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time_fade_out : time_fade_out
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};
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logger.WriteBlock(&pkt_sids, sizeof(pkt_sids));
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#endif
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}
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// guided position target logging
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struct PACKED log_Guided_Position_Target {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t type;
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float pos_target_x;
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float pos_target_y;
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float pos_target_z;
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uint8_t terrain;
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float vel_target_x;
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float vel_target_y;
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float vel_target_z;
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float accel_target_x;
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float accel_target_y;
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float accel_target_z;
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};
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// guided attitude target logging
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struct PACKED log_Guided_Attitude_Target {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t type;
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float roll;
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float pitch;
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float yaw;
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float roll_rate;
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float pitch_rate;
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float yaw_rate;
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float thrust;
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float climb_rate;
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};
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// rate thread dt stats
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struct PACKED log_Rate_Thread_Dt {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float dt;
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float dtAvg;
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float dtMax;
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float dtMin;
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};
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// Write a Guided mode position target
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// pos_target is lat, lon, alt OR offset from ekf origin in cm
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// terrain should be 0 if pos_target.z is alt-above-ekf-origin, 1 if alt-above-terrain
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// vel_target is cm/s
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void Copter::Log_Write_Guided_Position_Target(ModeGuided::SubMode target_type, const Vector3f& pos_target, bool terrain_alt, const Vector3f& vel_target, const Vector3f& accel_target)
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{
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const log_Guided_Position_Target pkt {
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LOG_PACKET_HEADER_INIT(LOG_GUIDED_POSITION_TARGET_MSG),
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time_us : AP_HAL::micros64(),
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type : (uint8_t)target_type,
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pos_target_x : pos_target.x,
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pos_target_y : pos_target.y,
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pos_target_z : pos_target.z,
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terrain : terrain_alt,
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vel_target_x : vel_target.x,
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vel_target_y : vel_target.y,
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vel_target_z : vel_target.z,
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accel_target_x : accel_target.x,
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accel_target_y : accel_target.y,
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accel_target_z : accel_target.z
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};
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logger.WriteBlock(&pkt, sizeof(pkt));
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}
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// Write a Guided mode attitude target
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// roll, pitch and yaw are in radians
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// ang_vel: angular velocity, [roll rate, pitch_rate, yaw_rate] in radians/sec
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// thrust is between 0 to 1
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// climb_rate is in (m/s)
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void Copter::Log_Write_Guided_Attitude_Target(ModeGuided::SubMode target_type, float roll, float pitch, float yaw, const Vector3f &ang_vel, float thrust, float climb_rate)
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{
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const log_Guided_Attitude_Target pkt {
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LOG_PACKET_HEADER_INIT(LOG_GUIDED_ATTITUDE_TARGET_MSG),
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time_us : AP_HAL::micros64(),
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type : (uint8_t)target_type,
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roll : degrees(roll), // rad to deg
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pitch : degrees(pitch), // rad to deg
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yaw : degrees(yaw), // rad to deg
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roll_rate : degrees(ang_vel.x), // rad/s to deg/s
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pitch_rate : degrees(ang_vel.y), // rad/s to deg/s
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yaw_rate : degrees(ang_vel.z), // rad/s to deg/s
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thrust : thrust,
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climb_rate : climb_rate
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};
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logger.WriteBlock(&pkt, sizeof(pkt));
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}
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void Copter::Log_Write_Rate_Thread_Dt(float dt, float dtAvg, float dtMax, float dtMin)
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{
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#if AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED
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const log_Rate_Thread_Dt pkt {
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LOG_PACKET_HEADER_INIT(LOG_RATE_THREAD_DT_MSG),
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time_us : AP_HAL::micros64(),
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dt : dt,
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dtAvg : dtAvg,
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dtMax : dtMax,
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dtMin : dtMin
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};
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logger.WriteBlock(&pkt, sizeof(pkt));
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#endif
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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 Copter::log_structure[] = {
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LOG_COMMON_STRUCTURES,
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// @LoggerMessage: PTUN
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// @Description: Parameter Tuning information
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// @URL: https://ardupilot.org/copter/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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{ LOG_PARAMTUNE_MSG, sizeof(log_ParameterTuning),
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"PTUN", "QBfff", "TimeUS,Param,TunVal,TunMin,TunMax", "s----", "F----" },
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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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{ 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" , true },
|
|
{ LOG_DATA_INT16_MSG, sizeof(log_Data_Int16t),
|
|
"D16", "QBh", "TimeUS,Id,Value", "s--", "F--" },
|
|
{ LOG_DATA_UINT16_MSG, sizeof(log_Data_UInt16t),
|
|
"DU16", "QBH", "TimeUS,Id,Value", "s--", "F--" },
|
|
{ LOG_DATA_INT32_MSG, sizeof(log_Data_Int32t),
|
|
"D32", "QBi", "TimeUS,Id,Value", "s--", "F--" },
|
|
{ LOG_DATA_UINT32_MSG, sizeof(log_Data_UInt32t),
|
|
"DU32", "QBI", "TimeUS,Id,Value", "s--", "F--" },
|
|
{ LOG_DATA_FLOAT_MSG, sizeof(log_Data_Float),
|
|
"DFLT", "QBf", "TimeUS,Id,Value", "s--", "F--" },
|
|
|
|
// @LoggerMessage: SIDD
|
|
// @Description: System ID data
|
|
// @Field: TimeUS: Time since system startup
|
|
// @Field: Time: Time reference for waveform
|
|
// @Field: Targ: Current waveform sample
|
|
// @Field: F: Instantaneous waveform frequency
|
|
// @Field: Gx: Delta angle, X-Axis
|
|
// @Field: Gy: Delta angle, Y-Axis
|
|
// @Field: Gz: Delta angle, Z-Axis
|
|
// @Field: Ax: Delta velocity, X-Axis
|
|
// @Field: Ay: Delta velocity, Y-Axis
|
|
// @Field: Az: Delta velocity, Z-Axis
|
|
|
|
{ LOG_SYSIDD_MSG, sizeof(log_SysIdD),
|
|
"SIDD", "Qfffffffff", "TimeUS,Time,Targ,F,Gx,Gy,Gz,Ax,Ay,Az", "ss-zkkkooo", "F---------" , true },
|
|
|
|
// @LoggerMessage: SIDS
|
|
// @Description: System ID settings
|
|
// @Field: TimeUS: Time since system startup
|
|
// @Field: Ax: The axis which is being excited
|
|
// @Field: Mag: Magnitude of the chirp waveform
|
|
// @Field: FSt: Frequency at the start of chirp
|
|
// @Field: FSp: Frequency at the end of chirp
|
|
// @Field: TFin: Time to reach maximum amplitude of chirp
|
|
// @Field: TC: Time at constant frequency before chirp starts
|
|
// @Field: TR: Time taken to complete chirp waveform
|
|
// @Field: TFout: Time to reach zero amplitude after chirp finishes
|
|
|
|
{ LOG_SYSIDS_MSG, sizeof(log_SysIdS),
|
|
"SIDS", "QBfffffff", "TimeUS,Ax,Mag,FSt,FSp,TFin,TC,TR,TFout", "s--ssssss", "F--------" , true },
|
|
|
|
// @LoggerMessage: GUIP
|
|
// @Description: Guided mode position target information
|
|
// @Field: TimeUS: Time since system startup
|
|
// @Field: Type: Type of guided mode
|
|
// @Field: pX: Target position, X-Axis
|
|
// @Field: pY: Target position, Y-Axis
|
|
// @Field: pZ: Target position, Z-Axis
|
|
// @Field: Terrain: Target position, Z-Axis is alt above terrain
|
|
// @Field: vX: Target velocity, X-Axis
|
|
// @Field: vY: Target velocity, Y-Axis
|
|
// @Field: vZ: Target velocity, Z-Axis
|
|
// @Field: aX: Target acceleration, X-Axis
|
|
// @Field: aY: Target acceleration, Y-Axis
|
|
// @Field: aZ: Target acceleration, Z-Axis
|
|
|
|
{ LOG_GUIDED_POSITION_TARGET_MSG, sizeof(log_Guided_Position_Target),
|
|
"GUIP", "QBfffbffffff", "TimeUS,Type,pX,pY,pZ,Terrain,vX,vY,vZ,aX,aY,aZ", "s-mmm-nnnooo", "F-BBB-BBBBBB" , true },
|
|
|
|
// @LoggerMessage: GUIA
|
|
// @Description: Guided mode attitude target information
|
|
// @Field: TimeUS: Time since system startup
|
|
// @Field: Type: Type of guided mode
|
|
// @Field: Roll: Target attitude, Roll
|
|
// @Field: Pitch: Target attitude, Pitch
|
|
// @Field: Yaw: Target attitude, Yaw
|
|
// @Field: RollRt: Roll rate
|
|
// @Field: PitchRt: Pitch rate
|
|
// @Field: YawRt: Yaw rate
|
|
// @Field: Thrust: Thrust
|
|
// @Field: ClimbRt: Climb rate
|
|
|
|
{ LOG_GUIDED_ATTITUDE_TARGET_MSG, sizeof(log_Guided_Attitude_Target),
|
|
"GUIA", "QBffffffff", "TimeUS,Type,Roll,Pitch,Yaw,RollRt,PitchRt,YawRt,Thrust,ClimbRt", "s-dddkkk-n", "F-000000-0" , true },
|
|
|
|
// @LoggerMessage: RTDT
|
|
// @Description: Attitude controller time deltas
|
|
// @Field: TimeUS: Time since system startup
|
|
// @Field: dt: current time delta
|
|
// @Field: dtAvg: current time delta average
|
|
// @Field: dtMax: Max time delta since last log output
|
|
// @Field: dtMin: Min time delta since last log output
|
|
|
|
{ LOG_RATE_THREAD_DT_MSG, sizeof(log_Rate_Thread_Dt),
|
|
"RTDT", "Qffff", "TimeUS,dt,dtAvg,dtMax,dtMin", "sssss", "F----" , true },
|
|
|
|
};
|
|
|
|
uint8_t Copter::get_num_log_structures() const
|
|
{
|
|
return ARRAY_SIZE(log_structure);
|
|
}
|
|
|
|
void Copter::Log_Write_Vehicle_Startup_Messages()
|
|
{
|
|
// only 200(?) bytes are guaranteed by AP_Logger
|
|
char frame_and_type_string[30];
|
|
copter.motors->get_frame_and_type_string(frame_and_type_string, ARRAY_SIZE(frame_and_type_string));
|
|
logger.Write_MessageF("%s", frame_and_type_string);
|
|
logger.Write_Mode((uint8_t)flightmode->mode_number(), control_mode_reason);
|
|
ahrs.Log_Write_Home_And_Origin();
|
|
gps.Write_AP_Logger_Log_Startup_messages();
|
|
}
|
|
|
|
#endif // HAL_LOGGING_ENABLED
|