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Copter: Added Throw Mode logger documentation

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Rishabh 2020-04-04 14:31:45 +05:30 committed by Randy Mackay
parent 4995a9b274
commit 41590916d5
1 changed files with 15 additions and 0 deletions
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15
ArduCopter/mode_throw.cpp
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@ -197,6 +197,21 @@ void ModeThrow::run()
const bool attitude_ok = (stage > Throw_Uprighting) || throw_attitude_good(); const bool attitude_ok = (stage > Throw_Uprighting) || throw_attitude_good();
const bool height_ok = (stage > Throw_HgtStabilise) || throw_height_good(); const bool height_ok = (stage > Throw_HgtStabilise) || throw_height_good();
const bool pos_ok = (stage > Throw_PosHold) || throw_position_good(); const bool pos_ok = (stage > Throw_PosHold) || throw_position_good();
// @LoggerMessage: THRO
// @Description: Throw Mode messages
// @URL: https://ardupilot.org/copter/docs/throw-mode.html
// @Field: TimeUS: Time since system startup
// @Field: Stage: Current stage of the Throw Mode
// @Field: Vel: Magnitude of the velocity vector
// @Field: VelZ: Vertical Velocity
// @Field: Acc: Magnitude of the vector of the current acceleration
// @Field: AccEfZ: Vertical earth frame accelerometer value
// @Field: Throw: True if a throw has been detected since entering this mode
// @Field: AttOk: True if the vehicle is upright
// @Field: HgtOk: True if the vehicle is within 50cm of the demanded height
// @Field: PosOk: True if the vehicle is within 50cm of the demanded horizontal position
AP::logger().Write( AP::logger().Write(
"THRO", "THRO",
"TimeUS,Stage,Vel,VelZ,Acc,AccEfZ,Throw,AttOk,HgtOk,PosOk", "TimeUS,Stage,Vel,VelZ,Acc,AccEfZ,Throw,AttOk,HgtOk,PosOk",