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AP_Logger: add error to PID message

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Leonard Hall 2019-06-27 19:01:52 +09:30 committed by Randy Mackay
parent 157f786adf
commit 94ee2fb2fd
3 changed files with 7 additions and 4 deletions
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1
libraries/AP_Logger/AP_Logger.h
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@ -285,6 +285,7 @@ public:
struct PID_Info { struct PID_Info {
float target; float target;
float actual; float actual;
float error;
float P; float P;
float I; float I;
float D; float D;

1
libraries/AP_Logger/LogFile.cpp
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@ -797,6 +797,7 @@ void AP_Logger::Write_PID(uint8_t msg_type, const PID_Info &info)
time_us : AP_HAL::micros64(), time_us : AP_HAL::micros64(),
target : info.target, target : info.target,
actual : info.actual, actual : info.actual,
error : info.error,
P : info.P, P : info.P,
I : info.I, I : info.I,
D : info.D, D : info.D,

9
libraries/AP_Logger/LogStructure.h
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@ -726,6 +726,7 @@ struct PACKED log_PID {
uint64_t time_us; uint64_t time_us;
float target; float target;
float actual; float actual;
float error;
float P; float P;
float I; float I;
float D; float D;
@ -1224,10 +1225,10 @@ struct PACKED log_Arm_Disarm {
#define MAG_UNITS "sGGGGGGGGG-s" #define MAG_UNITS "sGGGGGGGGG-s"
#define MAG_MULTS "FCCCCCCCCC-F" #define MAG_MULTS "FCCCCCCCCC-F"
#define PID_LABELS "TimeUS,Des,Act,P,I,D,FF" #define PID_LABELS "TimeUS,Des,Act,Err,P,I,D,FF"
#define PID_FMT "Qffffff" #define PID_FMT "Qfffffff"
#define PID_UNITS "s------" #define PID_UNITS "s-------"
#define PID_MULTS "F------" #define PID_MULTS "F-------"
#define QUAT_LABELS "TimeUS,Q1,Q2,Q3,Q4" #define QUAT_LABELS "TimeUS,Q1,Q2,Q3,Q4"
#define QUAT_FMT "Qffff" #define QUAT_FMT "Qffff"