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Copter: add z-axis accel logging

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Leonard Hall 2015-04-05 16:53:35 +09:30 committed by Randy Mackay
parent a632a57d79
commit 49d3357e1d
1 changed files with 10 additions and 3 deletions
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13
ArduCopter/Log.pde
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@ -325,7 +325,7 @@ static void Log_Write_Control_Tuning()
baro_alt : baro_alt,
desired_sonar_alt : (int16_t)target_sonar_alt,
sonar_alt : sonar_alt,
desired_climb_rate : desired_climb_rate,
desired_climb_rate : (int16_t)pos_control.get_vel_target_z(),
climb_rate : climb_rate
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
@ -395,12 +395,16 @@ struct PACKED log_Rate {
float control_yaw;
float yaw;
float yaw_out;
float control_accel;
float accel;
float accel_out;
};
// Write an rate packet
static void Log_Write_Rate()
{
const Vector3f &rate_targets = attitude_control.rate_bf_targets();
const Vector3f &accel_target = pos_control.get_accel_target();
struct log_Rate pkt_rate = {
LOG_PACKET_HEADER_INIT(LOG_RATE_MSG),
time_ms : hal.scheduler->millis(),
@ -412,7 +416,10 @@ static void Log_Write_Rate()
pitch_out : (float)(motors.get_pitch()),
control_yaw : (float)rate_targets.z,
yaw : (float)(ahrs.get_gyro().z * AC_ATTITUDE_CONTROL_DEGX100),
yaw_out : (float)(motors.get_yaw())
yaw_out : (float)(motors.get_yaw()),
control_accel : (float)accel_target.z,
accel : (float)(-(ahrs.get_accel_ef_blended().z + GRAVITY_MSS) * 100.0f),
accel_out : (float)(motors.get_throttle_out())
};
DataFlash.WriteBlock(&pkt_rate, sizeof(pkt_rate));
}
@ -607,7 +614,7 @@ static const struct LogStructure log_structure[] PROGMEM = {
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "HHIhBH", "NLon,NLoop,MaxT,PMT,I2CErr,INSErr" },
{ LOG_RATE_MSG, sizeof(log_Rate),
"RATE", "Ifffffffff", "TimeMS,RllDes,Rll,RllOut,PitDes,Pit,PitOut,YawDes,Yaw,YawOut" },
"RATE", "Iffffffffffff", "TimeMS,RDes,R,ROut,PDes,P,POut,YDes,Y,YOut,ADes,A,AOut" },
{ LOG_MOTBATT_MSG, sizeof(log_MotBatt),
"MOTB", "Iffff", "TimeMS,LiftMax,BatVolt,BatRes,ThLimit" },
{ LOG_STARTUP_MSG, sizeof(log_Startup),