From 4995a9b274c54518effda9a97d7e4632a0c625de Mon Sep 17 00:00:00 2001 From: Rishabh Date: Sat, 4 Apr 2020 14:32:27 +0530 Subject: [PATCH] Copter: Added Toy Mode logger documentation --- ArduCopter/toy_mode.cpp | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/ArduCopter/toy_mode.cpp b/ArduCopter/toy_mode.cpp index 5338813aaf..d11c617738 100644 --- a/ArduCopter/toy_mode.cpp +++ b/ArduCopter/toy_mode.cpp @@ -990,6 +990,17 @@ void ToyMode::thrust_limiting(float *thrust, uint8_t num_motors) } uint16_t pwm[4]; hal.rcout->read(pwm, 4); + +// @LoggerMessage: THST +// @Description: Maximum thrust limitation based on battery voltage in Toy Mode +// @Field: TimeUS: Time since system startup +// @Field: Vol: Filtered battery voltage +// @Field: Mul: Thrust multiplier between 0 and 1 to limit the output thrust based on battery voltage +// @Field: M1: Motor 1 pwm output +// @Field: M2: Motor 2 pwm output +// @Field: M3: Motor 3 pwm output +// @Field: M4: Motor 4 pwm output + if (motor_log_counter++ % 10 == 0) { AP::logger().Write("THST", "TimeUS,Vol,Mul,M1,M2,M3,M4", "QffHHHH", AP_HAL::micros64(),