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AP_Vehicle: log up to 12 harmonic notch frequencies

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Andy Piper 2021-11-27 12:45:03 +00:00 committed by Andrew Tridgell
parent c50ccd1d09
commit 9ba1cbc9d8
1 changed files with 16 additions and 6 deletions
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22
libraries/AP_Vehicle/AP_Vehicle.cpp
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@ -368,16 +368,26 @@ bool AP_Vehicle::is_crashed() const
// @Description: Filter Tuning Messages
// @Field: TimeUS: microseconds since system startup
// @Field: NDn: number of active dynamic harmonic notches
// @Field: DnF1: dynamic harmonic notch centre frequency for motor 1
// @Field: DnF2: dynamic harmonic notch centre frequency for motor 2
// @Field: DnF3: dynamic harmonic notch centre frequency for motor 3
// @Field: DnF4: dynamic harmonic notch centre frequency for motor 4
// @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_Vehicle::write_notch_log_messages() const
{
const float* notches = ins.get_gyro_dynamic_notch_center_frequencies_hz();
AP::logger().Write(
"FTN", "TimeUS,NDn,DnF1,DnF2,DnF3,DnF4", "s-zzzz", "F-----", "QBffff", AP_HAL::micros64(), ins.get_num_gyro_dynamic_notch_center_frequencies(),
notches[0], notches[1], notches[2], notches[3]);
"FTN", "TimeUS,NDn,NF1,NF2,NF3,NF4,NF5,NF6,NF7,NF8,NF9,NF10,NF11,NF12", "s-zzzzzzzzzzzz", "F-------------", "QBffffffffffff", AP_HAL::micros64(), ins.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]);
}
// run notch update at either loop rate or 200Hz