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Plane: log AHRS synthetic airspeed

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This commit is contained in:
Peter Barker 2020-07-28 14:29:22 +10:00 committed by Peter Barker
parent b5050c1e11
commit ac85ec9924
1 changed files with 11 additions and 3 deletions
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14
ArduPlane/Log.cpp
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@ -90,6 +90,7 @@ struct PACKED log_Control_Tuning {
int16_t rudder_out;
int16_t throttle_dem;
float airspeed_estimate;
float synthetic_airspeed;
};
// Write a control tuning packet. Total length : 22 bytes
@ -97,7 +98,12 @@ void Plane::Log_Write_Control_Tuning()
{
float est_airspeed = 0;
ahrs.airspeed_estimate(est_airspeed);
float synthetic_airspeed;
if (!ahrs.synthetic_airspeed(synthetic_airspeed)) {
synthetic_airspeed = logger.quiet_nan();
}
struct log_Control_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_CTUN_MSG),
time_us : AP_HAL::micros64(),
@ -108,7 +114,8 @@ void Plane::Log_Write_Control_Tuning()
throttle_out : (int16_t)SRV_Channels::get_output_scaled(SRV_Channel::k_throttle),
rudder_out : (int16_t)SRV_Channels::get_output_scaled(SRV_Channel::k_rudder),
throttle_dem : (int16_t)SpdHgt_Controller->get_throttle_demand(),
airspeed_estimate : est_airspeed
airspeed_estimate : est_airspeed,
synthetic_airspeed : synthetic_airspeed
};
logger.WriteBlock(&pkt, sizeof(pkt));
}
@ -302,9 +309,10 @@ const struct LogStructure Plane::log_structure[] = {
// @Field: RdrOut: scaled output rudder
// @Field: ThrDem: demanded speed-height-controller throttle
// @Field: Aspd: airspeed estimate (or measurement if airspeed sensor healthy and ARSPD_USE>0)
// @Field: SAs: synthetic airspeed measurement derived from non-airspeed sensors, NaN if not available
{ LOG_CTUN_MSG, sizeof(log_Control_Tuning),
"CTUN", "Qcccchhhf", "TimeUS,NavRoll,Roll,NavPitch,Pitch,ThrOut,RdrOut,ThrDem,Aspd", "sdddd---n", "FBBBB---0" },
"CTUN", "Qcccchhhff", "TimeUS,NavRoll,Roll,NavPitch,Pitch,ThrOut,RdrOut,ThrDem,Aspd,SAs", "sdddd---nn", "FBBBB---00" },
// @LoggerMessage: NTUN
// @Description: Navigation Tuning information - e.g. vehicle destination