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Tried to add ctrl debug values to sdlog2 (WIP)

This commit is contained in:
Julian Oes 2013-06-16 14:59:00 +02:00
parent b52d561b11
commit bd7f86bb6a
3 changed files with 25 additions and 20 deletions
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1
src/modules/multirotor_att_control/multirotor_rate_control.c
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@ -248,4 +248,5 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
motor_skip_counter++; motor_skip_counter++;
orb_publish(ORB_ID(vehicle_control_debug), control_debug_pub, &control_debug); orb_publish(ORB_ID(vehicle_control_debug), control_debug_pub, &control_debug);
printf("Published control debug\n");
} }

24
src/modules/sdlog2/sdlog2.c
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@ -91,6 +91,7 @@
#define LOGBUFFER_WRITE_AND_COUNT(_msg) if (logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(_msg))) { \ #define LOGBUFFER_WRITE_AND_COUNT(_msg) if (logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(_msg))) { \
log_msgs_written++; \ log_msgs_written++; \
printf("size: %d\n", LOG_PACKET_SIZE(_msg)); \
} else { \ } else { \
log_msgs_skipped++; \ log_msgs_skipped++; \
/*printf("skip\n");*/ \ /*printf("skip\n");*/ \
@ -1071,25 +1072,28 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- CONTROL DEBUG --- */ /* --- CONTROL DEBUG --- */
if (fds[ifds++].revents & POLLIN) { if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_control_debug), subs.control_debug_sub, &buf.control_debug); orb_copy(ORB_ID(vehicle_control_debug), subs.control_debug_sub, &buf.control_debug);
printf("copied control debug\n");
log_msg.body.log_CTRL.roll_p = buf.control_debug.roll_p;
log_msg.body.log_CTRL.roll_i = buf.control_debug.roll_i; // log_msg.body.log_CTRL.roll_p = buf.control_debug.roll_p;
log_msg.body.log_CTRL.roll_d = buf.control_debug.roll_d; // log_msg.body.log_CTRL.roll_i = buf.control_debug.roll_i;
// log_msg.body.log_CTRL.roll_d = buf.control_debug.roll_d;
log_msg.body.log_CTRL.roll_rate_p = buf.control_debug.roll_rate_p; log_msg.body.log_CTRL.roll_rate_p = buf.control_debug.roll_rate_p;
log_msg.body.log_CTRL.roll_rate_i = buf.control_debug.roll_rate_i; log_msg.body.log_CTRL.roll_rate_i = buf.control_debug.roll_rate_i;
log_msg.body.log_CTRL.roll_rate_d = buf.control_debug.roll_rate_d; log_msg.body.log_CTRL.roll_rate_d = buf.control_debug.roll_rate_d;
log_msg.body.log_CTRL.pitch_p = buf.control_debug.pitch_p; // log_msg.body.log_CTRL.pitch_p = buf.control_debug.pitch_p;
log_msg.body.log_CTRL.pitch_i = buf.control_debug.pitch_i; // log_msg.body.log_CTRL.pitch_i = buf.control_debug.pitch_i;
log_msg.body.log_CTRL.pitch_d = buf.control_debug.pitch_d; // log_msg.body.log_CTRL.pitch_d = buf.control_debug.pitch_d;
log_msg.body.log_CTRL.pitch_rate_p = buf.control_debug.pitch_rate_p; log_msg.body.log_CTRL.pitch_rate_p = buf.control_debug.pitch_rate_p;
log_msg.body.log_CTRL.pitch_rate_i = buf.control_debug.pitch_rate_i; log_msg.body.log_CTRL.pitch_rate_i = buf.control_debug.pitch_rate_i;
log_msg.body.log_CTRL.pitch_rate_d = buf.control_debug.pitch_rate_d; log_msg.body.log_CTRL.pitch_rate_d = buf.control_debug.pitch_rate_d;
log_msg.body.log_CTRL.yaw_p = buf.control_debug.yaw_p; // log_msg.body.log_CTRL.yaw_p = buf.control_debug.yaw_p;
log_msg.body.log_CTRL.yaw_i = buf.control_debug.yaw_i; // log_msg.body.log_CTRL.yaw_i = buf.control_debug.yaw_i;
log_msg.body.log_CTRL.yaw_d = buf.control_debug.yaw_d; // log_msg.body.log_CTRL.yaw_d = buf.control_debug.yaw_d;
log_msg.body.log_CTRL.yaw_rate_p = buf.control_debug.yaw_rate_p; log_msg.body.log_CTRL.yaw_rate_p = buf.control_debug.yaw_rate_p;
log_msg.body.log_CTRL.yaw_rate_i = buf.control_debug.yaw_rate_i; log_msg.body.log_CTRL.yaw_rate_i = buf.control_debug.yaw_rate_i;
log_msg.body.log_CTRL.yaw_rate_d = buf.control_debug.yaw_rate_d; log_msg.body.log_CTRL.yaw_rate_d = buf.control_debug.yaw_rate_d;
LOGBUFFER_WRITE_AND_COUNT(CTRL);
} }
/* --- FLOW --- */ /* --- FLOW --- */

20
src/modules/sdlog2/sdlog2_messages.h
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@ -159,25 +159,25 @@ struct log_STAT_s {
/* --- CTRL - CONTROL DEBUG --- */ /* --- CTRL - CONTROL DEBUG --- */
#define LOG_CTRL_MSG 11 #define LOG_CTRL_MSG 11
struct log_CTRL_s { struct log_CTRL_s {
float roll_p; // float roll_p;
float roll_i; // float roll_i;
float roll_d; // float roll_d;
float roll_rate_p; float roll_rate_p;
float roll_rate_i; float roll_rate_i;
float roll_rate_d; float roll_rate_d;
float pitch_p; // float pitch_p;
float pitch_i; // float pitch_i;
float pitch_d; // float pitch_d;
float pitch_rate_p; float pitch_rate_p;
float pitch_rate_i; float pitch_rate_i;
float pitch_rate_d; float pitch_rate_d;
float yaw_p; // float yaw_p;
float yaw_i; // float yaw_i;
float yaw_d; // float yaw_d;
float yaw_rate_p; float yaw_rate_p;
float yaw_rate_i; float yaw_rate_i;
@ -210,7 +210,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"), LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"),
LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"), LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
LOG_FORMAT(STAT, "BBBBBfffB", "State,FlightMode,CtlMode,SASMode,Armed,BatV,BatC,BatRem,BatWarn"), LOG_FORMAT(STAT, "BBBBBfffB", "State,FlightMode,CtlMode,SASMode,Armed,BatV,BatC,BatRem,BatWarn"),
LOG_FORMAT(CTRL, "ffffffffffffffffff", "RollP,RollI,RollD,RollRateP,RollRateI,RollRateD,PitchP,PitchI,PitchD,PitchRateP,PitchRateI,PitchRateD,YawP,YawI,YawD,YawRateP,YawRateI,YawRateD"), LOG_FORMAT(CTRL, "fffffffff", "RollRP,RollRI,RollRD,PitchRP,PitchRI,PitchRD,YawRP,YawRI,YawRD"),
LOG_FORMAT(RC, "ffffffff", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7"), LOG_FORMAT(RC, "ffffffff", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7"),
LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"), LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
}; };