dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Reinstate TECS logging

This commit is contained in:
Lorenz Meier 2014-08-03 13:18:22 +02:00
parent 020ac409be
commit 43ef622725
2 changed files with 56 additions and 31 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

40
src/lib/external_lgpl/tecs/tecs.cpp
View File

@ -554,18 +554,30 @@ void TECS::update_pitch_throttle(const math::Matrix<3,3> &rotMat, float pitch, f
// Calculate pitch demand
_update_pitch();
// // Write internal variables to the log_tuning structure. This
// // structure will be logged in dataflash at 10Hz
// log_tuning.hgt_dem = _hgt_dem_adj;
// log_tuning.hgt = _integ3_state;
// log_tuning.dhgt_dem = _hgt_rate_dem;
// log_tuning.dhgt = _integ2_state;
// log_tuning.spd_dem = _TAS_dem_adj;
// log_tuning.spd = _integ5_state;
// log_tuning.dspd = _vel_dot;
// log_tuning.ithr = _integ6_state;
// log_tuning.iptch = _integ7_state;
// log_tuning.thr = _throttle_dem;
// log_tuning.ptch = _pitch_dem;
// log_tuning.dspd_dem = _TAS_rate_dem;
_tecs_state.timestamp = now;
if (_underspeed) {
_tecs_state.mode = ECL_TECS_MODE_UNDERSPEED;
} else if (_badDescent) {
_tecs_state.mode = ECL_TECS_MODE_BAD_DESCENT;
} else if (_climbOutDem) {
_tecs_state.mode = ECL_TECS_MODE_CLIMBOUT;
} else {
// If no error flag applies, conclude normal
_tecs_state.mode = ECL_TECS_MODE_NORMAL;
}
_tecs_state.hgt_dem = _hgt_dem_adj;
_tecs_state.hgt = _integ3_state;
_tecs_state.dhgt_dem = _hgt_rate_dem;
_tecs_state.dhgt = _integ2_state;
_tecs_state.spd_dem = _TAS_dem_adj;
_tecs_state.spd = _integ5_state;
_tecs_state.dspd = _vel_dot;
_tecs_state.ithr = _integ6_state;
_tecs_state.iptch = _integ7_state;
_tecs_state.thr = _throttle_dem;
_tecs_state.ptch = _pitch_dem;
_tecs_state.dspd_dem = _TAS_rate_dem;
}

47
src/lib/external_lgpl/tecs/tecs.h
View File

@ -28,6 +28,7 @@ class __EXPORT TECS
{
public:
TECS() :
_tecs_state {},
_update_50hz_last_usec(0),
_update_speed_last_usec(0),
_update_pitch_throttle_last_usec(0),
@ -120,24 +121,33 @@ public:
return _spdWeight;
}
// log data on internal state of the controller. Called at 10Hz
// void log_data(DataFlash_Class &dataflash, uint8_t msgid);
enum ECL_TECS_MODE {
ECL_TECS_MODE_NORMAL = 0,
ECL_TECS_MODE_UNDERSPEED,
ECL_TECS_MODE_BAD_DESCENT,
ECL_TECS_MODE_CLIMBOUT
};
// struct PACKED log_TECS_Tuning {
// LOG_PACKET_HEADER;
// float hgt;
// float dhgt;
// float hgt_dem;
// float dhgt_dem;
// float spd_dem;
// float spd;
// float dspd;
// float ithr;
// float iptch;
// float thr;
// float ptch;
// float dspd_dem;
// } log_tuning;
struct tecs_state {
uint64_t timestamp;
float hgt;
float dhgt;
float hgt_dem;
float dhgt_dem;
float spd_dem;
float spd;
float dspd;
float ithr;
float iptch;
float thr;
float ptch;
float dspd_dem;
enum ECL_TECS_MODE mode;
};
void get_tecs_state(struct tecs_state& state) {
state = _tecs_state;
}
void set_time_const(float time_const) {
_timeConst = time_const;
@ -212,6 +222,9 @@ public:
}
private:
struct tecs_state _tecs_state;
// Last time update_50Hz was called
uint64_t _update_50hz_last_usec;