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Copter: add Time and rate_target to AutoTune logging

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Leonard Hall 2015-03-04 15:22:05 +09:00 committed by Randy Mackay
parent 8ba195a3a2
commit d233ca3133
1 changed files with 20 additions and 14 deletions
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34
ArduCopter/Log.pde
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@ -164,42 +164,48 @@ static void do_erase_logs(void)
#if AUTOTUNE_ENABLED == ENABLED
struct PACKED log_AutoTune {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint8_t axis; // roll or pitch
uint8_t tune_step; // tuning PI or D up or down
float rate_target; // target achieved rotation rate
float rate_min; // maximum achieved rotation rate
float rate_max; // maximum achieved rotation rate
float new_gain_rp; // newly calculated gain
float new_gain_rd; // newly calculated gain
float new_gain_sp; // newly calculated gain
float new_gain_rp; // newly calculated gain
float new_gain_rd; // newly calculated gain
float new_gain_sp; // newly calculated gain
};
// Write an Autotune data packet
static void Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float rate_min, float rate_max, float new_gain_rp, float new_gain_rd, float new_gain_sp)
static void Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float rate_target, float rate_min, float rate_max, float new_gain_rp, float new_gain_rd, float new_gain_sp)
{
struct log_AutoTune pkt = {
LOG_PACKET_HEADER_INIT(LOG_AUTOTUNE_MSG),
time_ms : hal.scheduler->millis(),
axis : axis,
tune_step : tune_step,
rate_target : rate_target,
rate_min : rate_min,
rate_max : rate_max,
new_gain_rp : new_gain_rp,
new_gain_rd : new_gain_rd,
new_gain_sp : new_gain_sp
new_gain_rp : new_gain_rp,
new_gain_rd : new_gain_rd,
new_gain_sp : new_gain_sp
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_AutoTuneDetails {
LOG_PACKET_HEADER;
int16_t angle_cd; // lean angle in centi-degrees
float rate_cds; // current rotation rate in centi-degrees / second
uint32_t time_ms;
float angle_cd; // lean angle in centi-degrees
float rate_cds; // current rotation rate in centi-degrees / second
};
// Write an Autotune data packet
static void Log_Write_AutoTuneDetails(int16_t angle_cd, float rate_cds)
static void Log_Write_AutoTuneDetails(float angle_cd, float rate_cds)
{
struct log_AutoTuneDetails pkt = {
LOG_PACKET_HEADER_INIT(LOG_AUTOTUNEDETAILS_MSG),
time_ms : hal.scheduler->millis(),
angle_cd : angle_cd,
rate_cds : rate_cds
};
@ -590,9 +596,9 @@ static const struct LogStructure log_structure[] PROGMEM = {
LOG_COMMON_STRUCTURES,
#if AUTOTUNE_ENABLED == ENABLED
{ LOG_AUTOTUNE_MSG, sizeof(log_AutoTune),
"ATUN", "BBfffff", "Axis,TuneStep,RateMin,RateMax,RPGain,RDGain,SPGain" },
"ATUN", "IBBffffff", "TimeMS,Axis,TuneStep,RateTarg,RateMin,RateMax,RP,RD,SP" },
{ LOG_AUTOTUNEDETAILS_MSG, sizeof(log_AutoTuneDetails),
"ATDE", "cf", "Angle,Rate" },
"ATDE", "Iff", "TimeMS,Angle,Rate" },
#endif
{ LOG_OPTFLOW_MSG, sizeof(log_Optflow),
"OF", "IBffff", "TimeMS,Qual,flowX,flowY,bodyX,bodyY" },
@ -675,8 +681,8 @@ static void start_logging()
static void Log_Write_Startup() {}
#if AUTOTUNE_ENABLED == ENABLED
static void Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float rate_min, float rate_max, float new_gain_rp, float new_gain_rd, float new_gain_sp) {}
static void Log_Write_AutoTuneDetails(int16_t angle_cd, float rate_cds) {}
static void Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float rate_target, float rate_min, float rate_max, float new_gain_rp, float new_gain_rd, float new_gain_sp) {}
static void Log_Write_AutoTuneDetails(float angle_cd, float rate_cds) {}
#endif
static void Log_Write_Current() {}
static void Log_Write_Attitude() {}