mirror of https://github.com/ArduPilot/ardupilot
315 lines
11 KiB
C++
315 lines
11 KiB
C++
#include "Plane.h"
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#if LOGGING_ENABLED == ENABLED
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// Write an attitude packet
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void Plane::Log_Write_Attitude(void)
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{
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Vector3f targets; // Package up the targets into a vector for commonality with Copter usage of Log_Wrote_Attitude
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targets.x = nav_roll_cd;
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targets.y = nav_pitch_cd;
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if (quadplane.in_vtol_mode() || quadplane.in_assisted_flight()) {
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// when VTOL active log the copter target yaw
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targets.z = wrap_360_cd(quadplane.attitude_control->get_att_target_euler_cd().z);
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} else {
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//Plane does not have the concept of navyaw. This is a placeholder.
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targets.z = 0;
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}
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if (quadplane.tailsitter_active() || quadplane.in_vtol_mode()) {
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// we need the attitude targets from the AC_AttitudeControl controller, as they
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// account for the acceleration limits.
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// Also, for bodyframe roll input types, _attitude_target_euler_angle is not maintained
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// since Euler angles are not used and it is a waste of cpu to compute them at the loop rate.
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// Get them from the quaternion instead:
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quadplane.attitude_control->get_attitude_target_quat().to_euler(targets.x, targets.y, targets.z);
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targets *= degrees(100.0f);
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logger.Write_AttitudeView(*quadplane.ahrs_view, targets);
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} else {
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logger.Write_Attitude(targets);
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}
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if (quadplane.in_vtol_mode() || quadplane.in_assisted_flight()) {
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// log quadplane PIDs separately from fixed wing PIDs
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logger.Write_PID(LOG_PIQR_MSG, quadplane.attitude_control->get_rate_roll_pid().get_pid_info());
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logger.Write_PID(LOG_PIQP_MSG, quadplane.attitude_control->get_rate_pitch_pid().get_pid_info());
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logger.Write_PID(LOG_PIQY_MSG, quadplane.attitude_control->get_rate_yaw_pid().get_pid_info());
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logger.Write_PID(LOG_PIQA_MSG, quadplane.pos_control->get_accel_z_pid().get_pid_info() );
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}
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logger.Write_PID(LOG_PIDR_MSG, rollController.get_pid_info());
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logger.Write_PID(LOG_PIDP_MSG, pitchController.get_pid_info());
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logger.Write_PID(LOG_PIDY_MSG, yawController.get_pid_info());
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logger.Write_PID(LOG_PIDS_MSG, steerController.get_pid_info());
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#if AP_AHRS_NAVEKF_AVAILABLE
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AP::ahrs_navekf().Log_Write();
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logger.Write_AHRS2();
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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sitl.Log_Write_SIMSTATE();
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#endif
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logger.Write_POS();
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}
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// do logging at loop rate
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void Plane::Log_Write_Fast(void)
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{
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if (should_log(MASK_LOG_ATTITUDE_FAST)) {
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Log_Write_Attitude();
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}
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}
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struct PACKED log_Startup {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t startup_type;
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uint16_t command_total;
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};
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void Plane::Log_Write_Startup(uint8_t type)
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{
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struct log_Startup pkt = {
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LOG_PACKET_HEADER_INIT(LOG_STARTUP_MSG),
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time_us : AP_HAL::micros64(),
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startup_type : type,
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command_total : mission.num_commands()
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};
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logger.WriteCriticalBlock(&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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int16_t nav_roll_cd;
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int16_t roll;
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int16_t nav_pitch_cd;
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int16_t pitch;
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int16_t throttle_out;
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int16_t rudder_out;
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int16_t throttle_dem;
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float airspeed_estimate;
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};
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// Write a control tuning packet. Total length : 22 bytes
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void Plane::Log_Write_Control_Tuning()
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{
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float est_airspeed = 0;
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ahrs.airspeed_estimate(&est_airspeed);
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struct log_Control_Tuning pkt = {
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LOG_PACKET_HEADER_INIT(LOG_CTUN_MSG),
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time_us : AP_HAL::micros64(),
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nav_roll_cd : (int16_t)nav_roll_cd,
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roll : (int16_t)ahrs.roll_sensor,
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nav_pitch_cd : (int16_t)nav_pitch_cd,
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pitch : (int16_t)ahrs.pitch_sensor,
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throttle_out : (int16_t)SRV_Channels::get_output_scaled(SRV_Channel::k_throttle),
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rudder_out : (int16_t)SRV_Channels::get_output_scaled(SRV_Channel::k_rudder),
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throttle_dem : (int16_t)SpdHgt_Controller->get_throttle_demand(),
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airspeed_estimate : est_airspeed
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};
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logger.WriteBlock(&pkt, sizeof(pkt));
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}
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struct PACKED log_Nav_Tuning {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float wp_distance;
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int16_t target_bearing_cd;
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int16_t nav_bearing_cd;
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int16_t altitude_error_cm;
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float xtrack_error;
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float xtrack_error_i;
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float airspeed_error;
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int32_t target_lat;
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int32_t target_lng;
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int32_t target_alt;
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int32_t target_airspeed;
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};
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// Write a navigation tuning packet
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void Plane::Log_Write_Nav_Tuning()
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{
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struct log_Nav_Tuning pkt = {
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LOG_PACKET_HEADER_INIT(LOG_NTUN_MSG),
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time_us : AP_HAL::micros64(),
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wp_distance : auto_state.wp_distance,
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target_bearing_cd : (int16_t)nav_controller->target_bearing_cd(),
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nav_bearing_cd : (int16_t)nav_controller->nav_bearing_cd(),
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altitude_error_cm : (int16_t)altitude_error_cm,
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xtrack_error : nav_controller->crosstrack_error(),
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xtrack_error_i : nav_controller->crosstrack_error_integrator(),
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airspeed_error : airspeed_error,
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target_lat : next_WP_loc.lat,
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target_lng : next_WP_loc.lng,
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target_alt : next_WP_loc.alt,
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target_airspeed : target_airspeed_cm,
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};
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logger.WriteBlock(&pkt, sizeof(pkt));
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}
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struct PACKED log_Status {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t is_flying;
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float is_flying_probability;
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uint8_t armed;
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uint8_t safety;
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bool is_crashed;
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bool is_still;
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uint8_t stage;
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bool impact;
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};
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void Plane::Log_Write_Status()
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{
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struct log_Status pkt = {
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LOG_PACKET_HEADER_INIT(LOG_STATUS_MSG)
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,time_us : AP_HAL::micros64()
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,is_flying : is_flying()
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,is_flying_probability : isFlyingProbability
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,armed : hal.util->get_soft_armed()
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,safety : static_cast<uint8_t>(hal.util->safety_switch_state())
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,is_crashed : crash_state.is_crashed
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,is_still : AP::ins().is_still()
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,stage : static_cast<uint8_t>(flight_stage)
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,impact : crash_state.impact_detected
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};
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logger.WriteBlock(&pkt, sizeof(pkt));
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}
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struct PACKED log_Sonar {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float distance;
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float voltage;
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uint8_t count;
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float correction;
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};
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// Write a sonar packet. Note that RFND log messages are written by
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// RangeFinder itself as part of update().
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void Plane::Log_Write_Sonar()
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{
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uint16_t distance = 0;
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if (rangefinder.status_orient(ROTATION_PITCH_270) == RangeFinder::Status::Good) {
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distance = rangefinder.distance_cm_orient(ROTATION_PITCH_270);
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}
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struct log_Sonar pkt = {
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LOG_PACKET_HEADER_INIT(LOG_SONAR_MSG),
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time_us : AP_HAL::micros64(),
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distance : (float)distance*0.01f,
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voltage : rangefinder.voltage_mv_orient(ROTATION_PITCH_270)*0.001f,
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count : rangefinder_state.in_range_count,
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correction : rangefinder_state.correction
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};
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logger.WriteBlock(&pkt, sizeof(pkt));
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}
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struct PACKED log_AETR {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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int16_t aileron;
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int16_t elevator;
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int16_t throttle;
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int16_t rudder;
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int16_t flap;
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};
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void Plane::Log_Write_AETR()
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{
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struct log_AETR pkt = {
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LOG_PACKET_HEADER_INIT(LOG_AETR_MSG)
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,time_us : AP_HAL::micros64()
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,aileron : SRV_Channels::get_output_scaled(SRV_Channel::k_aileron)
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,elevator : SRV_Channels::get_output_scaled(SRV_Channel::k_elevator)
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,throttle : SRV_Channels::get_output_scaled(SRV_Channel::k_throttle)
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,rudder : SRV_Channels::get_output_scaled(SRV_Channel::k_rudder)
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,flap : SRV_Channels::get_output_scaled(SRV_Channel::k_flap_auto)
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};
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logger.WriteBlock(&pkt, sizeof(pkt));
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}
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void Plane::Log_Write_RC(void)
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{
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logger.Write_RCIN();
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logger.Write_RCOUT();
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if (rssi.enabled()) {
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logger.Write_RSSI();
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}
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Log_Write_AETR();
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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 Plane::log_structure[] = {
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LOG_COMMON_STRUCTURES,
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{ LOG_STARTUP_MSG, sizeof(log_Startup),
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"STRT", "QBH", "TimeUS,SType,CTot", "s--", "F--" },
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{ LOG_CTUN_MSG, sizeof(log_Control_Tuning),
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"CTUN", "Qcccchhhf", "TimeUS,NavRoll,Roll,NavPitch,Pitch,ThrOut,RdrOut,ThrDem,Aspd", "sdddd---n", "FBBBB---0" },
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{ LOG_NTUN_MSG, sizeof(log_Nav_Tuning),
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"NTUN", "QfcccfffLLii", "TimeUS,Dist,TBrg,NavBrg,AltErr,XT,XTi,AspdE,TLat,TLng,TAlt,TAspd", "smddmmmnDUmn", "F0BBB0B0GGBB" },
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{ LOG_SONAR_MSG, sizeof(log_Sonar),
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"SONR", "QffBf", "TimeUS,Dist,Volt,Cnt,Corr", "smv--", "FB0--" },
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{ LOG_ATRP_MSG, sizeof(AP_AutoTune::log_ATRP),
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"ATRP", "QBBcfff", "TimeUS,Type,State,Servo,Demanded,Achieved,P", "s---dd-", "F---00-" },
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{ LOG_STATUS_MSG, sizeof(log_Status),
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"STAT", "QBfBBBBBB", "TimeUS,isFlying,isFlyProb,Armed,Safety,Crash,Still,Stage,Hit", "s--------", "F--------" },
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{ LOG_QTUN_MSG, sizeof(QuadPlane::log_QControl_Tuning),
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"QTUN", "Qffffffeccf", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DCRt,CRt,TMix", "s----mmmnn-", "F----00000-" },
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{ LOG_AOA_SSA_MSG, sizeof(log_AOA_SSA),
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"AOA", "Qff", "TimeUS,AOA,SSA", "sdd", "F00" },
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{ LOG_PIQR_MSG, sizeof(log_PID), \
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"PIQR", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS }, \
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{ LOG_PIQP_MSG, sizeof(log_PID), \
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"PIQP", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS }, \
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{ LOG_PIQY_MSG, sizeof(log_PID), \
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"PIQY", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS }, \
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{ LOG_PIQA_MSG, sizeof(log_PID), \
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"PIQA", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS }, \
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{ LOG_AETR_MSG, sizeof(log_AETR), \
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"AETR", "Qhhhhh", "TimeUS,Ail,Elev,Thr,Rudd,Flap", "s-----", "F-----" }, \
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};
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void Plane::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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Log_Write_Startup(TYPE_GROUNDSTART_MSG);
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logger.Write_Mode(control_mode->mode_number(), 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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/*
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initialise logging subsystem
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*/
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void Plane::log_init(void)
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{
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logger.Init(log_structure, ARRAY_SIZE(log_structure));
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}
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#else // LOGGING_ENABLED
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void Plane::Log_Write_Attitude(void) {}
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void Plane::Log_Write_Fast(void) {}
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void Plane::Log_Write_Performance() {}
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void Plane::Log_Write_Startup(uint8_t type) {}
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void Plane::Log_Write_Control_Tuning() {}
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void Plane::Log_Write_Nav_Tuning() {}
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void Plane::Log_Write_Status() {}
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void Plane::Log_Write_Sonar() {}
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void Plane::Log_Write_RC(void) {}
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void Plane::Log_Write_Vehicle_Startup_Messages() {}
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void Plane::log_init(void) {}
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#endif // LOGGING_ENABLED
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