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Plane: move quadplane logging to QuadPlane: update()

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Iampete1 2021-01-17 00:07:15 +00:00 committed by Andrew Tridgell
parent 5def8a64ab
commit 4dec597372
1 changed files with 24 additions and 21 deletions
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41
ArduPlane/quadplane.cpp
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@ -1977,10 +1977,10 @@ void QuadPlane::update(void)
pos_control->relax_alt_hold_controllers(0); pos_control->relax_alt_hold_controllers(0);
} }
const uint32_t now = AP_HAL::millis();
if (!in_vtol_mode()) { if (!in_vtol_mode()) {
update_transition(); update_transition();
} else { } else {
const uint32_t now = AP_HAL::millis();
assisted_flight = false; assisted_flight = false;
@ -2050,6 +2050,27 @@ void QuadPlane::update(void)
} }
tiltrotor_update(); tiltrotor_update();
// motors logging
if (motors->armed()) {
const bool motors_active = in_vtol_mode() || assisted_flight;
if (motors_active && (motors->get_spool_state() != AP_Motors::SpoolState::SHUT_DOWN)) {
// log RATE at main loop rate
ahrs_view->Write_Rate(*motors, *attitude_control, *pos_control);
// log CTRL at 10 Hz
if (now - last_ctrl_log_ms > 100) {
last_ctrl_log_ms = now;
attitude_control->control_monitor_log();
}
}
// log QTUN at 25 Hz if motors are active, or have been active in the last quarter second
if ((motors_active || (now - last_motors_active_ms < 250)) && (now - last_qtun_log_ms > 40)) {
last_qtun_log_ms = now;
Log_Write_QControl_Tuning();
}
}
} }
/* /*
@ -2202,24 +2223,6 @@ void QuadPlane::motors_output(bool run_rate_controller)
update_throttle_suppression(); update_throttle_suppression();
motors->output(); motors->output();
if (motors->armed() && motors->get_spool_state() != AP_Motors::SpoolState::SHUT_DOWN) {
const uint32_t now = AP_HAL::millis();
// log RATE at main loop rate
ahrs_view->Write_Rate(*motors, *attitude_control, *pos_control);
// log QTUN at 25 Hz
if (now - last_qtun_log_ms > 40) {
last_qtun_log_ms = now;
Log_Write_QControl_Tuning();
}
// log CTRL at 10 Hz
if (now - last_ctrl_log_ms > 100) {
last_ctrl_log_ms = now;
attitude_control->control_monitor_log();
}
}
// remember when motors were last active for throttle suppression // remember when motors were last active for throttle suppression
if (motors->get_throttle() > 0.01f || tilt.motors_active) { if (motors->get_throttle() > 0.01f || tilt.motors_active) {