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AC_Autorotation: add documentation for AROT message

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Peter Barker 2020-07-20 14:55:47 +10:00 committed by Peter Barker
parent babb3fef54
commit 9d01fc6ff6
1 changed files with 16 additions and 0 deletions
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16
libraries/AC_Autorotation/AC_Autorotation.cpp
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@ -251,6 +251,22 @@ float AC_Autorotation::get_rpm(bool update_counter)
void AC_Autorotation::Log_Write_Autorotation(void)
{
// @LoggerMessage: AROT
// @Description: Helicopter AutoRotation information
// @Field: TimeUS: Time since system startup
// @Field: P: P-term for headspeed controller response
// @Field: hserr: head speed error; difference between current and desired head speed
// @Field: ColOut: Collective Out
// @Field: FFCol: FF-term for headspeed controller response
// @Field: CRPM: current headspeed RPM
// @Field: SpdF: current forward speed
// @Field: CmdV: desired forward speed
// @Field: p: p-term of velocity response
// @Field: ff: ff-term of velocity response
// @Field: AccO: forward acceleration output
// @Field: AccT: forward acceleration target
// @Field: PitT: pitch target
//Write to data flash log
AP::logger().Write("AROT",
"TimeUS,P,hserr,ColOut,FFCol,CRPM,SpdF,CmdV,p,ff,AccO,AccT,PitT",