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

APM_Control: use ATRP log msg via structure

Browse Source
This commit is contained in:
Andrew Tridgell 2021-04-12 14:43:34 +10:00
parent da2ddda0cb
commit 72b51a389c
2 changed files with 31 additions and 47 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

59
libraries/APM_Control/AP_AutoTune.cpp
View File

@ -160,25 +160,6 @@ void AP_AutoTune::stop(void)
}
}
// @LoggerMessage: ATRP
// @Description: Plane AutoTune
// @Vehicles: Plane
// @Field: TimeUS: Time since system startup
// @Field: Axis: tuning axis
// @Field: State: tuning state
// @Field: Sur: control surface deflection
// @Field: Tar: target rate
// @Field: Act: actual rate
// @Field: FF0: FF value single sample
// @Field: FF: FF value
// @Field: P: P value
// @Field: I: I value
// @Field: D: D value
// @Field: Action: action taken
// @Field: RMAX: Rate maximum
// @Field: TAU: time constant
/*
one update cycle of the autotuner
*/
@ -242,28 +223,24 @@ void AP_AutoTune::update(AP_Logger::PID_Info &pinfo, float scaler)
break;
}
// unfortunately the LoggerDocumentation test doesn't
// like two different log msgs in one Write call
AP::logger().Write(
"ATRP",
"TimeUS,Axis,State,Sur,Tar,Act,FF0,FF,P,I,D,Action,RMAX,TAU",
"s#-dkk------ks",
"F--00000000-00",
"QBBffffffffBHf",
AP_HAL::micros64(),
unsigned(type),
unsigned(new_state),
actuator,
desired_rate,
actual_rate,
FF_single,
current.FF,
current.P,
current.I,
current.D,
unsigned(action),
current.rmax_pos.get(),
current.tau);
struct log_ATRP pkt = {
LOG_PACKET_HEADER_INIT(LOG_ATRP_MSG),
time_us : AP_HAL::micros64(),
type : uint8_t(type),
state: uint8_t(new_state),
actuator : actuator,
desired_rate : desired_rate,
actual_rate : actual_rate,
FF0: FF_single,
FF: current.FF,
P: current.P,
I: current.I,
D: current.D,
action: uint8_t(action),
rmax: float(current.rmax_pos.get()),
tau: current.tau
};
AP::logger().WriteBlock(&pkt, sizeof(pkt));
const uint32_t now = AP_HAL::millis();

19
libraries/APM_Control/AP_AutoTune.h
View File

@ -23,12 +23,19 @@ public:
struct PACKED log_ATRP {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t type;
uint8_t state;
int16_t servo;
float demanded;
float achieved;
float P;
uint8_t type;
uint8_t state;
float actuator;
float desired_rate;
float actual_rate;
float FF0;
float FF;
float P;
float I;
float D;
uint8_t action;
float rmax;
float tau;
};