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AP_Logger: improve unit names in comments. 

added Ampere hours unit in LOG_ESC_MSG
log ESC volts, amps and consumption as floats
update ESC log file structures
consumption in mAh
Correct the current_tot unit,
motor_temp unit and error_rate unit in comments (<amilcar.lucas@iav.de>)
move ESC_Telem logging to the AP_ESC_Telem class (<amilcar.lucas@iav.de>)
correct log structure (<amilcar.lucas@iav.de>)
zr-v5.1
Dr.-Ing. Amilcar do Carmo Lucas 4 years ago committed by Andrew Tridgell
parent
71e7f7e476
commit
c323ee4f56
3 changed files with 4 additions and 99 deletions
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  1. 2
      libraries/AP_Logger/AP_Logger.h
  2. 43
      libraries/AP_Logger/LogFile.cpp
  3. 58
      libraries/AP_Logger/LogStructure.h

2
libraries/AP_Logger/AP_Logger.h
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@ -299,9 +299,7 @@ public: @@ -299,9 +299,7 @@ public:
void Write_Radio(const mavlink_radio_t &packet);
void Write_Message(const char *message);
void Write_MessageF(const char *fmt, ...);
void Write_ESC(uint8_t id, uint64_t time_us, int32_t rpm, uint16_t voltage, uint16_t current, int16_t esc_temp, uint16_t current_tot, int16_t motor_temp, float error_rate = 0.0f);
void Write_ServoStatus(uint64_t time_us, uint8_t id, float position, float force, float speed, uint8_t power_pct);
void Write_ESCStatus(uint64_t time_us, uint8_t id, uint32_t error_count, float voltage, float current, float temperature, int32_t rpm, uint8_t power_pct);
void Write_Compass();
void Write_Mode(uint8_t mode, const ModeReason reason);

43
libraries/AP_Logger/LogFile.cpp
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@ -361,30 +361,6 @@ bool AP_Logger_Backend::Write_Mode(uint8_t mode, const ModeReason reason) @@ -361,30 +361,6 @@ bool AP_Logger_Backend::Write_Mode(uint8_t mode, const ModeReason reason)
return WriteCriticalBlock(&pkt, sizeof(pkt));
}
// Write ESC status messages
// id starts from 0
// rpm is eRPM (rpm * 100)
// voltage is in centi-volts
// current is in centi-amps
// temperature is in centi-degrees Celsius
// current_tot is in centi-amp hours
void AP_Logger::Write_ESC(uint8_t instance, uint64_t time_us, int32_t rpm, uint16_t voltage, uint16_t current, int16_t esc_temp, uint16_t current_tot, int16_t motor_temp, float error_rate)
{
const struct log_Esc pkt{
LOG_PACKET_HEADER_INIT(uint8_t(LOG_ESC_MSG)),
time_us : time_us,
instance : instance,
rpm : rpm,
voltage : voltage,
current : current,
esc_temp : esc_temp,
current_tot : current_tot,
motor_temp : motor_temp,
error_rate : error_rate
};
WriteBlock(&pkt, sizeof(pkt));
}
/*
write servo status from CAN servo
*/
@ -402,25 +378,6 @@ void AP_Logger::Write_ServoStatus(uint64_t time_us, uint8_t id, float position, @@ -402,25 +378,6 @@ void AP_Logger::Write_ServoStatus(uint64_t time_us, uint8_t id, float position,
WriteBlock(&pkt, sizeof(pkt));
}
/*
write ESC status from CAN ESC
*/
void AP_Logger::Write_ESCStatus(uint64_t time_us, uint8_t id, uint32_t error_count, float voltage, float current, float temperature, int32_t rpm, uint8_t power_pct)
{
const struct log_CESC pkt {
LOG_PACKET_HEADER_INIT(LOG_CESC_MSG),
time_us : time_us,
id : id,
error_count : error_count,
voltage : voltage,
current : current,
temperature : temperature,
rpm : rpm,
power_pct : power_pct
};
WriteBlock(&pkt, sizeof(pkt));
}
// Write a Yaw PID packet
void AP_Logger::Write_PID(uint8_t msg_type, const PID_Info &info)

58
libraries/AP_Logger/LogStructure.h
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@ -45,6 +45,7 @@ const struct UnitStructure log_Units[] = { @@ -45,6 +45,7 @@ const struct UnitStructure log_Units[] = {
{ '-', "" }, // no units e.g. Pi, or a string
{ '?', "UNKNOWN" }, // Units which haven't been worked out yet....
{ 'A', "A" }, // Ampere
{ 'a', "Ah" }, // Ampere hours
{ 'd', "deg" }, // of the angular variety, -180 to 180
{ 'b', "B" }, // bytes
{ 'k', "deg/s" }, // degrees per second. Degrees are NOT SI, but is some situations more user-friendly than radians
@ -130,6 +131,7 @@ const struct MultiplierStructure log_Multipliers[] = { @@ -130,6 +131,7 @@ const struct MultiplierStructure log_Multipliers[] = {
#include <AP_VisualOdom/LogStructure.h>
#include <AC_PrecLand/LogStructure.h>
#include <AC_Avoidance/LogStructure.h>
#include <AP_ESC_Telem/LogStructure.h>
// structure used to define logging format
struct LogStructure {
@ -442,19 +444,6 @@ struct PACKED log_TERRAIN { @@ -442,19 +444,6 @@ struct PACKED log_TERRAIN {
uint16_t loaded;
};
struct PACKED log_Esc {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t instance;
int32_t rpm;
uint16_t voltage;
uint16_t current;
int16_t esc_temp;
uint16_t current_tot;
int16_t motor_temp;
float error_rate;
};
struct PACKED log_CSRV {
LOG_PACKET_HEADER;
uint64_t time_us;
@ -465,18 +454,6 @@ struct PACKED log_CSRV { @@ -465,18 +454,6 @@ struct PACKED log_CSRV {
uint8_t power_pct;
};
struct PACKED log_CESC {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t id;
uint32_t error_count;
float voltage;
float current;
float temperature;
int32_t rpm;
uint8_t power_pct;
};
struct PACKED log_ARSP {
LOG_PACKET_HEADER;
uint64_t time_us;
@ -789,17 +766,6 @@ struct PACKED log_PSCZ { @@ -789,17 +766,6 @@ struct PACKED log_PSCZ {
// @Field: PosY: Calculated beacon position, y-axis
// @Field: PosZ: Calculated beacon position, z-axis
// @LoggerMessage: CESC
// @Description: CAN ESC data
// @Field: TimeUS: Time since system startup
// @Field: Id: ESC identifier
// @Field: ECnt: Error count
// @Field: Voltage: Battery voltage measurement
// @Field: Curr: Battery current measurement
// @Field: Temp: Temperature
// @Field: RPM: Measured RPM
// @Field: Pow: Rated power output
// @LoggerMessage: CMD
// @Description: Executed mission command information
// @Field: TimeUS: Time since system startup
@ -874,18 +840,6 @@ struct PACKED log_PSCZ { @@ -874,18 +840,6 @@ struct PACKED log_PSCZ {
// @Field: Subsys: Subsystem in which the error occurred
// @Field: ECode: Subsystem-specific error code
// @LoggerMessage: ESC
// @Description: Feedback received from ESCs
// @Field: TimeUS: microseconds since system startup
// @Field: Instance: ESC instance number
// @Field: RPM: reported motor rotation rate
// @Field: Volt: Perceived input voltage for the ESC
// @Field: Curr: Perceived current through the ESC
// @Field: Temp: ESC temperature
// @Field: CTot: current consumed total
// @Field: MotTemp: measured motor temperature
// @Field: Err: error rate
// @LoggerMessage: EV
// @Description: Specifically coded event messages
// @Field: TimeUS: Time since system startup
@ -1310,12 +1264,9 @@ LOG_STRUCTURE_FROM_AVOIDANCE \ @@ -1310,12 +1264,9 @@ LOG_STRUCTURE_FROM_AVOIDANCE \
"SIM","QccCfLLffff","TimeUS,Roll,Pitch,Yaw,Alt,Lat,Lng,Q1,Q2,Q3,Q4", "sddhmDU????", "FBBB0GG????" }, \
{ LOG_TERRAIN_MSG, sizeof(log_TERRAIN), \
"TERR","QBLLHffHH","TimeUS,Status,Lat,Lng,Spacing,TerrH,CHeight,Pending,Loaded", "s-DU-mm--", "F-GG-00--" }, \
{ LOG_ESC_MSG, sizeof(log_Esc), \
"ESC", "QBeCCcHcf", "TimeUS,Instance,RPM,Volt,Curr,Temp,CTot,MotTemp,Err", "s#qvAO-O%", "F-BBBB-B-" }, \
LOG_STRUCTURE_FROM_ESC_TELEM \
{ LOG_CSRV_MSG, sizeof(log_CSRV), \
"CSRV","QBfffB","TimeUS,Id,Pos,Force,Speed,Pow", "s#---%", "F-0000" }, \
{ LOG_CESC_MSG, sizeof(log_CESC), \
"CESC","QBIfffiB","TimeUS,Id,ECnt,Voltage,Curr,Temp,RPM,Pow", "s#-vAOq%", "F-000000" }, \
{ LOG_PIDR_MSG, sizeof(log_PID), \
"PIDR", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS }, \
{ LOG_PIDP_MSG, sizeof(log_PID), \
@ -1418,10 +1369,9 @@ enum LogMessages : uint8_t { @@ -1418,10 +1369,9 @@ enum LogMessages : uint8_t {
LOG_ATRP_MSG,
LOG_IDS_FROM_CAMERA,
LOG_TERRAIN_MSG,
LOG_ESC_MSG,
LOG_CSRV_MSG,
LOG_CESC_MSG,
LOG_ARSP_MSG,
LOG_IDS_FROM_ESC_TELEM,
LOG_IDS_FROM_BATTMONITOR,
LOG_MAG_MSG,

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