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AC_AttitudeControl: add CTRL log message documentation

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Peter Barker 2020-04-07 12:53:57 +10:00 committed by Peter Barker
parent 1f8cd830ea
commit afc0fbc516
1 changed files with 8 additions and 0 deletions
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8
libraries/AC_AttitudeControl/ControlMonitor.cpp
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@ -41,6 +41,14 @@ void AC_AttitudeControl::control_monitor_update(void)
*/ */
void AC_AttitudeControl::control_monitor_log(void) void AC_AttitudeControl::control_monitor_log(void)
{ {
// @LoggerMessage: CTRL
// @Description: Attitude Control oscillation monitor diagnostics
// @Field: TimeUS: Time since system startup
// @Field: RMSRollP: LPF Root-Mean-Squared Roll Rate controller P gain
// @Field: RMSRollD: LPF Root-Mean-Squared Roll rate controller D gain
// @Field: RMSPitchP: LPF Root-Mean-Squared Pitch Rate controller P gain
// @Field: RMSPitchD: LPF Root-Mean-Squared Pitch Rate controller D gain
// @Field: RMSYaw: LPF Root-Mean-Squared Yaw Rate controller P+D gain
AP::logger().Write("CTRL", "TimeUS,RMSRollP,RMSRollD,RMSPitchP,RMSPitchD,RMSYaw", "Qfffff", AP::logger().Write("CTRL", "TimeUS,RMSRollP,RMSRollD,RMSPitchP,RMSPitchD,RMSYaw", "Qfffff",
AP_HAL::micros64(), AP_HAL::micros64(),
(double)safe_sqrt(_control_monitor.rms_roll_P), (double)safe_sqrt(_control_monitor.rms_roll_P),