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AP_InertialSensor: move INS notch filter logging into INS

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Peter Barker 2021-12-31 11:32:17 +11:00 committed by Peter Barker
parent fe9ee72bf7
commit 6084682634
2 changed files with 29 additions and 0 deletions
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3
libraries/AP_InertialSensor/AP_InertialSensor.h
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@ -276,6 +276,9 @@ public:
return _harmonic_notch_filter.hasOption(option);
}
// write out harmonic notch log messages
void write_notch_log_messages() const;
// indicate which bit in LOG_BITMASK indicates raw logging enabled
void set_log_raw_bit(uint32_t log_raw_bit) { _log_raw_bit = log_raw_bit; }

26
libraries/AP_InertialSensor/AP_InertialSensor_Logging.cpp
View File

@ -128,3 +128,29 @@ bool AP_InertialSensor::BatchSampler::Write_ISBD() const
return AP::logger().WriteBlock_first_succeed(&pkt, sizeof(pkt));
}
// @LoggerMessage: FTN
// @Description: Filter Tuning Messages
// @Field: TimeUS: microseconds since system startup
// @Field: NDn: number of active dynamic harmonic notches
// @Field: NF1: dynamic harmonic notch centre frequency for motor 1
// @Field: NF2: dynamic harmonic notch centre frequency for motor 2
// @Field: NF3: dynamic harmonic notch centre frequency for motor 3
// @Field: NF4: dynamic harmonic notch centre frequency for motor 4
// @Field: NF5: dynamic harmonic notch centre frequency for motor 5
// @Field: NF6: dynamic harmonic notch centre frequency for motor 6
// @Field: NF7: dynamic harmonic notch centre frequency for motor 7
// @Field: NF8: dynamic harmonic notch centre frequency for motor 8
// @Field: NF9: dynamic harmonic notch centre frequency for motor 9
// @Field: NF10: dynamic harmonic notch centre frequency for motor 10
// @Field: NF11: dynamic harmonic notch centre frequency for motor 11
// @Field: NF12: dynamic harmonic notch centre frequency for motor 12
void AP_InertialSensor::write_notch_log_messages() const
{
const float* notches = get_gyro_dynamic_notch_center_frequencies_hz();
AP::logger().Write(
"FTN", "TimeUS,NDn,NF1,NF2,NF3,NF4,NF5,NF6,NF7,NF8,NF9,NF10,NF11,NF12", "s-zzzzzzzzzzzz", "F-------------", "QBffffffffffff", AP_HAL::micros64(), get_num_gyro_dynamic_notch_center_frequencies(),
notches[0], notches[1], notches[2], notches[3],
notches[4], notches[5], notches[6], notches[7],
notches[8], notches[9], notches[10], notches[11]);
}