AP_Motors: add local loging of MOTB

libraries/AP_Motors/AP_MotorsMulticopter.cpp

@@ -16,6 +16,7 @@
 #include "AP_MotorsMulticopter.h"
 #include <AP_HAL/AP_HAL.h>
 #include <AP_BattMonitor/AP_BattMonitor.h>
+#include <AP_Logger/AP_Logger.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -394,6 +395,21 @@ void AP_MotorsMulticopter::update_lift_max_from_batt_voltage()
     _lift_max = batt_voltage_filt * (1 - thrust_curve_expo) + thrust_curve_expo * batt_voltage_filt * batt_voltage_filt;
 }
 
+// 10hz logging of voltage scaling and max trust
+void AP_MotorsMulticopter::Log_Write()
+{
+    struct log_MotBatt pkt_mot = {
+        LOG_PACKET_HEADER_INIT(LOG_MOTBATT_MSG),
+        time_us         : AP_HAL::micros64(),
+        lift_max        : _lift_max,
+        bat_volt        : _batt_voltage_filt.get(),
+        th_limit        : _throttle_limit,
+        th_average_max  : _throttle_avg_max,
+        mot_fail_flags  : (uint8_t)(_thrust_boost | (_thrust_balanced << 1U)),
+    };
+    AP::logger().WriteBlock(&pkt_mot, sizeof(pkt_mot));
+}
+
 float AP_MotorsMulticopter::get_compensation_gain() const
 {
     // avoid divide by zero

libraries/AP_Motors/AP_MotorsMulticopter.h

@@ -55,15 +55,6 @@ public:
     //   throttle_input is in the range of 0 ~ 1 where 0 will send get_pwm_output_min() and 1 will send get_pwm_output_max()
     void                set_throttle_passthrough_for_esc_calibration(float throttle_input);
 
-    // get_lift_max - get maximum lift ratio - for logging purposes only
-    float               get_lift_max() const { return _lift_max; }
-
-    // get_batt_voltage_filt - get battery voltage ratio - for logging purposes only
-    float               get_batt_voltage_filt() const { return _batt_voltage_filt.get(); }
-
-    // get throttle limit imposed by battery current limiting.  This is a number from 0 ~ 1 where 0 means hover throttle, 1 means full throttle (i.e. not limited)
-    float               get_throttle_limit() const { return _throttle_limit; }
-
     // returns maximum thrust in the range 0 to 1
     float               get_throttle_thrust_max() const { return _throttle_thrust_max; }
 
@@ -108,6 +99,9 @@ public:
     // convert values to PWM min and max if not configured
     void                convert_pwm_min_max_param(int16_t radio_min, int16_t radio_max);
 
+    // 10hz logging of voltage scaling and max trust
+    void                Log_Write() override;
+
     // var_info for holding Parameter information
     static const struct AP_Param::GroupInfo        var_info[];
 

libraries/AP_Motors/AP_Motors_Class.h

@@ -258,6 +258,9 @@ public:
     void set_frame_string(const char * str);
 #endif
 
+    // write log, to be called at 10hz
+    virtual void Log_Write() {};
+
 protected:
     // output functions that should be overloaded by child classes
     virtual void        output_armed_stabilizing() = 0;