aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Rover: THR logs X-axis accel

Browse Source 
X-axis is forward-back acceleration which is what users may need for speed and throttle tuning
This commit is contained in:
Randy Mackay 2021-06-07 21:03:06 +09:00
parent ac2080ff93
commit 4521334b06
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
Rover/Log.cpp
View File

@ -222,7 +222,7 @@ struct PACKED log_Throttle {
float throttle_out;
float desired_speed;
float speed;
float accel_y;
float accel_x;
};
// Write a throttle control packet
@ -238,7 +238,7 @@ void Rover::Log_Write_Throttle()
throttle_out : g2.motors.get_throttle(),
desired_speed : g2.attitude_control.get_desired_speed(),
speed : speed,
accel_y : accel.y
accel_x : accel.x
};
logger.WriteBlock(&pkt, sizeof(pkt));
}
@ -284,10 +284,10 @@ const LogStructure Rover::log_structure[] = {
// @Field: ThrOut: Throttle Output
// @Field: DesSpeed: Desired speed
// @Field: Speed: Actual speed
// @Field: AccY: Vehicle's acceleration in Y-Axis
// @Field: AccX: Acceleration
{ LOG_THR_MSG, sizeof(log_Throttle),
"THR", "Qhffff", "TimeUS,ThrIn,ThrOut,DesSpeed,Speed,AccY", "s--nno", "F--000" },
"THR", "Qhffff", "TimeUS,ThrIn,ThrOut,DesSpeed,Speed,AccX", "s--nno", "F--000" },
// @LoggerMessage: NTUN
// @Description: Navigation Tuning information - e.g. vehicle destination