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Copter: Added FlowHold logger documentation

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Rishabh 2020-04-04 14:31:10 +05:30 committed by Randy Mackay
parent 41590916d5
commit 3b077ec612
1 changed files with 26 additions and 0 deletions
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26
ArduCopter/mode_flowhold.cpp
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@ -203,6 +203,18 @@ void ModeFlowHold::flowhold_flow_to_angle(Vector2f &bf_angles, bool stick_input)
bf_angles.x = constrain_float(bf_angles.x, -copter.aparm.angle_max, copter.aparm.angle_max);
bf_angles.y = constrain_float(bf_angles.y, -copter.aparm.angle_max, copter.aparm.angle_max);
// @LoggerMessage: FHLD
// @Description: FlowHold mode messages
// @URL: https://ardupilot.org/copter/docs/flowhold-mode.html
// @Field: TimeUS: Time since system startup
// @Field: SFx: Filtered flow rate, X-Axis
// @Field: SFy: Filtered flow rate, Y-Axis
// @Field: Ax: Target lean angle, X-Axis
// @Field: Ay: Target lean angle, Y-Axis
// @Field: Qual: Flow sensor quality. If this value falls below FHLD_QUAL_MIN parameter, FlowHold will act just like AltHold.
// @Field: Ix: Integral part of PI controller, X-Axis
// @Field: Iy: Integral part of PI controller, Y-Axis
if (log_counter++ % 20 == 0) {
AP::logger().Write("FHLD", "TimeUS,SFx,SFy,Ax,Ay,Qual,Ix,Iy", "Qfffffff",
AP_HAL::micros64(),
@ -472,6 +484,20 @@ void ModeFlowHold::update_height_estimate(void)
// new height estimate for logging
height_estimate = ins_height + height_offset;
// @LoggerMessage: FHXY
// @Description: Height estimation using optical flow sensor
// @Field: TimeUS: Time since system startup
// @Field: DFx: Delta flow rate, X-Axis
// @Field: DFy: Delta flow rate, Y-Axis
// @Field: DVx: Integrated delta velocity rate, X-Axis
// @Field: DVy: Integrated delta velocity rate, Y-Axis
// @Field: Hest: Estimated Height
// @Field: DH: Delta Height
// @Field: Hofs: Height offset
// @Field: InsH: Height estimate from inertial navigation library
// @Field: LastInsH: Last used INS height in optical flow sensor height estimation calculations
// @Field: DTms: Time between optical flow sensor updates. This should be less than 500ms for performing the height estimation calculations
AP::logger().Write("FHXY", "TimeUS,DFx,DFy,DVx,DVy,Hest,DH,Hofs,InsH,LastInsH,DTms", "QfffffffffI",
AP_HAL::micros64(),
(double)delta_flowrate.x,