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Merge pull request #1254 from PX4/tecs_logging 

TECS logging
This commit is contained in:
Lorenz Meier 2014-08-06 17:41:15 +02:00
parent 5c5fc93ce6 ff760d07b4
commit 95fc701376
7 changed files with 114 additions and 48 deletions
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40
src/lib/external_lgpl/tecs/tecs.cpp
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@ -554,18 +554,30 @@ void TECS::update_pitch_throttle(const math::Matrix<3,3> &rotMat, float pitch, f
// Calculate pitch demand // Calculate pitch demand
_update_pitch(); _update_pitch();
// // Write internal variables to the log_tuning structure. This _tecs_state.timestamp = now;
// // structure will be logged in dataflash at 10Hz
// log_tuning.hgt_dem = _hgt_dem_adj; if (_underspeed) {
// log_tuning.hgt = _integ3_state; _tecs_state.mode = ECL_TECS_MODE_UNDERSPEED;
// log_tuning.dhgt_dem = _hgt_rate_dem; } else if (_badDescent) {
// log_tuning.dhgt = _integ2_state; _tecs_state.mode = ECL_TECS_MODE_BAD_DESCENT;
// log_tuning.spd_dem = _TAS_dem_adj; } else if (_climbOutDem) {
// log_tuning.spd = _integ5_state; _tecs_state.mode = ECL_TECS_MODE_CLIMBOUT;
// log_tuning.dspd = _vel_dot; } else {
// log_tuning.ithr = _integ6_state; // If no error flag applies, conclude normal
// log_tuning.iptch = _integ7_state; _tecs_state.mode = ECL_TECS_MODE_NORMAL;
// log_tuning.thr = _throttle_dem; }
// log_tuning.ptch = _pitch_dem;
// log_tuning.dspd_dem = _TAS_rate_dem; _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
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@ -28,6 +28,7 @@ class __EXPORT TECS
{ {
public: public:
TECS() : TECS() :
_tecs_state {},
_update_50hz_last_usec(0), _update_50hz_last_usec(0),
_update_speed_last_usec(0), _update_speed_last_usec(0),
_update_pitch_throttle_last_usec(0), _update_pitch_throttle_last_usec(0),
@ -120,24 +121,33 @@ public:
return _spdWeight; return _spdWeight;
} }
// log data on internal state of the controller. Called at 10Hz enum ECL_TECS_MODE {
// void log_data(DataFlash_Class &dataflash, uint8_t msgid); ECL_TECS_MODE_NORMAL = 0,
ECL_TECS_MODE_UNDERSPEED,
ECL_TECS_MODE_BAD_DESCENT,
ECL_TECS_MODE_CLIMBOUT
};
// struct PACKED log_TECS_Tuning { struct tecs_state {
// LOG_PACKET_HEADER; uint64_t timestamp;
// float hgt; float hgt;
// float dhgt; float dhgt;
// float hgt_dem; float hgt_dem;
// float dhgt_dem; float dhgt_dem;
// float spd_dem; float spd_dem;
// float spd; float spd;
// float dspd; float dspd;
// float ithr; float ithr;
// float iptch; float iptch;
// float thr; float thr;
// float ptch; float ptch;
// float dspd_dem; float dspd_dem;
// } log_tuning; enum ECL_TECS_MODE mode;
};
void get_tecs_state(struct tecs_state& state) {
state = _tecs_state;
}
void set_time_const(float time_const) { void set_time_const(float time_const) {
_timeConst = time_const; _timeConst = time_const;
@ -212,6 +222,9 @@ public:
} }
private: private:
struct tecs_state _tecs_state;
// Last time update_50Hz was called // Last time update_50Hz was called
uint64_t _update_50hz_last_usec; uint64_t _update_50hz_last_usec;

47
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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@ -146,6 +146,7 @@ private:
int _range_finder_sub; /**< range finder subscription */ int _range_finder_sub; /**< range finder subscription */
orb_advert_t _attitude_sp_pub; /**< attitude setpoint */ orb_advert_t _attitude_sp_pub; /**< attitude setpoint */
orb_advert_t _tecs_status_pub; /**< TECS status publication */
orb_advert_t _nav_capabilities_pub; /**< navigation capabilities publication */ orb_advert_t _nav_capabilities_pub; /**< navigation capabilities publication */
struct vehicle_attitude_s _att; /**< vehicle attitude */ struct vehicle_attitude_s _att; /**< vehicle attitude */
@ -414,6 +415,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
/* publications */ /* publications */
_attitude_sp_pub(-1), _attitude_sp_pub(-1),
_tecs_status_pub(-1),
_nav_capabilities_pub(-1), _nav_capabilities_pub(-1),
/* states */ /* states */
@ -1384,6 +1386,51 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
climbout_mode, climbout_pitch_min_rad, climbout_mode, climbout_pitch_min_rad,
throttle_min, throttle_max, throttle_cruise, throttle_min, throttle_max, throttle_cruise,
pitch_min_rad, pitch_max_rad); pitch_min_rad, pitch_max_rad);
struct TECS::tecs_state s;
_tecs.get_tecs_state(s);
struct tecs_status_s t;
t.timestamp = s.timestamp;
switch (s.mode) {
case TECS::ECL_TECS_MODE_NORMAL:
t.mode = TECS_MODE_NORMAL;
break;
case TECS::ECL_TECS_MODE_UNDERSPEED:
t.mode = TECS_MODE_UNDERSPEED;
break;
case TECS::ECL_TECS_MODE_BAD_DESCENT:
t.mode = TECS_MODE_BAD_DESCENT;
break;
case TECS::ECL_TECS_MODE_CLIMBOUT:
t.mode = TECS_MODE_CLIMBOUT;
break;
}
t.altitudeSp = s.hgt_dem;
t.altitude_filtered = s.hgt;
t.airspeedSp = s.spd_dem;
t.airspeed_filtered = s.spd;
t.flightPathAngleSp = s.dhgt_dem;
t.flightPathAngle = s.dhgt;
t.flightPathAngleFiltered = s.dhgt;
t.airspeedDerivativeSp = s.dspd_dem;
t.airspeedDerivative = s.dspd;
t.totalEnergyRateSp = s.thr;
t.totalEnergyRate = s.ithr;
t.energyDistributionRateSp = s.ptch;
t.energyDistributionRate = s.iptch;
if (_tecs_status_pub > 0) {
orb_publish(ORB_ID(tecs_status), _tecs_status_pub, &t);
} else {
_tecs_status_pub = orb_advertise(ORB_ID(tecs_status), &t);
}
} }
} }

6
src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
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@ -109,8 +109,7 @@ int mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float alti
/* Write part of the status message */ /* Write part of the status message */
_status.altitudeSp = altitudeSp; _status.altitudeSp = altitudeSp;
_status.altitude = altitude; _status.altitude_filtered = altitudeFiltered;
_status.altitudeFiltered = altitudeFiltered;
/* use flightpath angle setpoint for total energy control */ /* use flightpath angle setpoint for total energy control */
@ -146,8 +145,7 @@ int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAng
/* Write part of the status message */ /* Write part of the status message */
_status.airspeedSp = airspeedSp; _status.airspeedSp = airspeedSp;
_status.airspeed = airspeed; _status.airspeed_filtered = airspeedFiltered;
_status.airspeedFiltered = airspeedFiltered;
/* use longitudinal acceleration setpoint for total energy control */ /* use longitudinal acceleration setpoint for total energy control */

6
src/modules/sdlog2/sdlog2.c
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@ -1597,14 +1597,12 @@ int sdlog2_thread_main(int argc, char *argv[])
if (copy_if_updated(ORB_ID(tecs_status), subs.tecs_status_sub, &buf.tecs_status)) { if (copy_if_updated(ORB_ID(tecs_status), subs.tecs_status_sub, &buf.tecs_status)) {
log_msg.msg_type = LOG_TECS_MSG; log_msg.msg_type = LOG_TECS_MSG;
log_msg.body.log_TECS.altitudeSp = buf.tecs_status.altitudeSp; log_msg.body.log_TECS.altitudeSp = buf.tecs_status.altitudeSp;
log_msg.body.log_TECS.altitude = buf.tecs_status.altitude; log_msg.body.log_TECS.altitudeFiltered = buf.tecs_status.altitude_filtered;
log_msg.body.log_TECS.altitudeFiltered = buf.tecs_status.altitudeFiltered;
log_msg.body.log_TECS.flightPathAngleSp = buf.tecs_status.flightPathAngleSp; log_msg.body.log_TECS.flightPathAngleSp = buf.tecs_status.flightPathAngleSp;
log_msg.body.log_TECS.flightPathAngle = buf.tecs_status.flightPathAngle; log_msg.body.log_TECS.flightPathAngle = buf.tecs_status.flightPathAngle;
log_msg.body.log_TECS.flightPathAngleFiltered = buf.tecs_status.flightPathAngleFiltered; log_msg.body.log_TECS.flightPathAngleFiltered = buf.tecs_status.flightPathAngleFiltered;
log_msg.body.log_TECS.airspeedSp = buf.tecs_status.airspeedSp; log_msg.body.log_TECS.airspeedSp = buf.tecs_status.airspeedSp;
log_msg.body.log_TECS.airspeed = buf.tecs_status.airspeed; log_msg.body.log_TECS.airspeedFiltered = buf.tecs_status.airspeed_filtered;
log_msg.body.log_TECS.airspeedFiltered = buf.tecs_status.airspeedFiltered;
log_msg.body.log_TECS.airspeedDerivativeSp = buf.tecs_status.airspeedDerivativeSp; log_msg.body.log_TECS.airspeedDerivativeSp = buf.tecs_status.airspeedDerivativeSp;
log_msg.body.log_TECS.airspeedDerivative = buf.tecs_status.airspeedDerivative; log_msg.body.log_TECS.airspeedDerivative = buf.tecs_status.airspeedDerivative;
log_msg.body.log_TECS.totalEnergyRateSp = buf.tecs_status.totalEnergyRateSp; log_msg.body.log_TECS.totalEnergyRateSp = buf.tecs_status.totalEnergyRateSp;

4
src/modules/sdlog2/sdlog2_messages.h
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@ -333,13 +333,11 @@ struct log_GS1B_s {
#define LOG_TECS_MSG 30 #define LOG_TECS_MSG 30
struct log_TECS_s { struct log_TECS_s {
float altitudeSp; float altitudeSp;
float altitude;
float altitudeFiltered; float altitudeFiltered;
float flightPathAngleSp; float flightPathAngleSp;
float flightPathAngle; float flightPathAngle;
float flightPathAngleFiltered; float flightPathAngleFiltered;
float airspeedSp; float airspeedSp;
float airspeed;
float airspeedFiltered; float airspeedFiltered;
float airspeedDerivativeSp; float airspeedDerivativeSp;
float airspeedDerivative; float airspeedDerivative;
@ -455,7 +453,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(GS0B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), LOG_FORMAT(GS0B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(TECS, "fffffffffffffffB", "ASP,A,AF,FSP,F,FF,AsSP,As,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"), LOG_FORMAT(TECS, "fffffffffffffB", "ASP,AF,FSP,F,FF,AsSP,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"),
LOG_FORMAT(WIND, "ffff", "X,Y,CovX,CovY"), LOG_FORMAT(WIND, "ffff", "X,Y,CovX,CovY"),
/* system-level messages, ID >= 0x80 */ /* system-level messages, ID >= 0x80 */

12
src/modules/uORB/topics/tecs_status.h
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@ -51,11 +51,13 @@
*/ */
typedef enum { typedef enum {
TECS_MODE_NORMAL, TECS_MODE_NORMAL = 0,
TECS_MODE_UNDERSPEED, TECS_MODE_UNDERSPEED,
TECS_MODE_TAKEOFF, TECS_MODE_TAKEOFF,
TECS_MODE_LAND, TECS_MODE_LAND,
TECS_MODE_LAND_THROTTLELIM TECS_MODE_LAND_THROTTLELIM,
TECS_MODE_BAD_DESCENT,
TECS_MODE_CLIMBOUT
} tecs_mode; } tecs_mode;
/** /**
@ -65,14 +67,12 @@ struct tecs_status_s {
uint64_t timestamp; /**< timestamp, in microseconds since system start */ uint64_t timestamp; /**< timestamp, in microseconds since system start */
float altitudeSp; float altitudeSp;
float altitude; float altitude_filtered;
float altitudeFiltered;
float flightPathAngleSp; float flightPathAngleSp;
float flightPathAngle; float flightPathAngle;
float flightPathAngleFiltered; float flightPathAngleFiltered;
float airspeedSp; float airspeedSp;
float airspeed; float airspeed_filtered;
float airspeedFiltered;
float airspeedDerivativeSp; float airspeedDerivativeSp;
float airspeedDerivative; float airspeedDerivative;