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Copter: Autotune log acceleration

mission-4.1.18
Leonard Hall 10 years ago committed by Randy Mackay
parent
b336ab4de7
commit
fe0d069eab
3 changed files with 18 additions and 16 deletions
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  1. 2
      ArduCopter/Copter.h
  2. 20
      ArduCopter/Log.cpp
  3. 12
      ArduCopter/control_autotune.cpp

2
ArduCopter/Copter.h
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@ -580,7 +580,7 @@ private: @@ -580,7 +580,7 @@ private:
void gcs_check_input(void);
void gcs_send_text_P(gcs_severity severity, const prog_char_t *str);
void do_erase_logs(void);
void Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float rate_target, float rate_min, float rate_max, float new_gain_rp, float new_gain_rd, float new_gain_sp);
void Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float meas_target, float meas_min, float meas_max, float new_gain_rp, float new_gain_rd, float new_gain_sp, float new_ddt);
void Log_Write_AutoTuneDetails(float angle_cd, float rate_cds);
void Log_Write_Current();
void Log_Write_Optflow();

20
ArduCopter/Log.cpp
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@ -160,28 +160,30 @@ struct PACKED log_AutoTune { @@ -160,28 +160,30 @@ struct PACKED log_AutoTune {
uint64_t time_us;
uint8_t axis; // roll or pitch
uint8_t tune_step; // tuning PI or D up or down
float rate_target; // target achieved rotation rate
float rate_min; // maximum achieved rotation rate
float rate_max; // maximum achieved rotation rate
float meas_target; // target achieved rotation rate
float meas_min; // maximum achieved rotation rate
float meas_max; // maximum achieved rotation rate
float new_gain_rp; // newly calculated gain
float new_gain_rd; // newly calculated gain
float new_gain_sp; // newly calculated gain
float new_ddt; // newly calculated gain
};
// Write an Autotune data packet
void Copter::Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float rate_target, float rate_min, float rate_max, float new_gain_rp, float new_gain_rd, float new_gain_sp)
void Copter::Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float meas_target, float meas_min, float meas_max, float new_gain_rp, float new_gain_rd, float new_gain_sp, float new_ddt)
{
struct log_AutoTune pkt = {
LOG_PACKET_HEADER_INIT(LOG_AUTOTUNE_MSG),
time_us : hal.scheduler->micros64(),
axis : axis,
tune_step : tune_step,
rate_target : rate_target,
rate_min : rate_min,
rate_max : rate_max,
meas_target : meas_target,
meas_min : meas_min,
meas_max : meas_max,
new_gain_rp : new_gain_rp,
new_gain_rd : new_gain_rd,
new_gain_sp : new_gain_sp
new_gain_sp : new_gain_sp,
new_ddt : new_ddt
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
@ -656,7 +658,7 @@ const struct LogStructure Copter::log_structure[] PROGMEM = { @@ -656,7 +658,7 @@ const struct LogStructure Copter::log_structure[] PROGMEM = {
LOG_COMMON_STRUCTURES,
#if AUTOTUNE_ENABLED == ENABLED
{ LOG_AUTOTUNE_MSG, sizeof(log_AutoTune),
"ATUN", "QBBffffff", "TimeUS,Axis,TuneStep,RateTarg,RateMin,RateMax,RP,RD,SP" },
"ATUN", "QBBfffffff", "TimeUS,Axis,TuneStep,Targ,Min,Max,RP,RD,SP,ddt" },
{ LOG_AUTOTUNEDETAILS_MSG, sizeof(log_AutoTuneDetails),
"ATDE", "Qff", "TimeUS,Angle,Rate" },
#endif

12
ArduCopter/control_autotune.cpp
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@ -524,25 +524,25 @@ void Copter::autotune_attitude_control() @@ -524,25 +524,25 @@ void Copter::autotune_attitude_control()
if ((autotune_state.tune_type == AUTOTUNE_TYPE_SP_DOWN) || (autotune_state.tune_type == AUTOTUNE_TYPE_SP_UP)) {
switch (autotune_state.axis) {
case AUTOTUNE_AXIS_ROLL:
Log_Write_AutoTune(autotune_state.axis, autotune_state.tune_type, autotune_target_angle, autotune_test_min, autotune_test_max, tune_roll_rp, tune_roll_rd, tune_roll_sp);
Log_Write_AutoTune(autotune_state.axis, autotune_state.tune_type, autotune_target_angle, autotune_test_min, autotune_test_max, tune_roll_rp, tune_roll_rd, tune_roll_sp, autotune_test_accel_max);
break;
case AUTOTUNE_AXIS_PITCH:
Log_Write_AutoTune(autotune_state.axis, autotune_state.tune_type, autotune_target_angle, autotune_test_min, autotune_test_max, tune_pitch_rp, tune_pitch_rd, tune_pitch_sp);
Log_Write_AutoTune(autotune_state.axis, autotune_state.tune_type, autotune_target_angle, autotune_test_min, autotune_test_max, tune_pitch_rp, tune_pitch_rd, tune_pitch_sp, autotune_test_accel_max);
break;
case AUTOTUNE_AXIS_YAW:
Log_Write_AutoTune(autotune_state.axis, autotune_state.tune_type, autotune_target_angle, autotune_test_min, autotune_test_max, tune_yaw_rp, tune_yaw_rLPF, tune_yaw_sp);
Log_Write_AutoTune(autotune_state.axis, autotune_state.tune_type, autotune_target_angle, autotune_test_min, autotune_test_max, tune_yaw_rp, tune_yaw_rLPF, tune_yaw_sp, autotune_test_accel_max);
break;
}
} else {
switch (autotune_state.axis) {
case AUTOTUNE_AXIS_ROLL:
Log_Write_AutoTune(autotune_state.axis, autotune_state.tune_type, autotune_target_rate, autotune_test_min, autotune_test_max, tune_roll_rp, tune_roll_rd, tune_roll_sp);
Log_Write_AutoTune(autotune_state.axis, autotune_state.tune_type, autotune_target_rate, autotune_test_min, autotune_test_max, tune_roll_rp, tune_roll_rd, tune_roll_sp, autotune_test_accel_max);
break;
case AUTOTUNE_AXIS_PITCH:
Log_Write_AutoTune(autotune_state.axis, autotune_state.tune_type, autotune_target_rate, autotune_test_min, autotune_test_max, tune_pitch_rp, tune_pitch_rd, tune_pitch_sp);
Log_Write_AutoTune(autotune_state.axis, autotune_state.tune_type, autotune_target_rate, autotune_test_min, autotune_test_max, tune_pitch_rp, tune_pitch_rd, tune_pitch_sp, autotune_test_accel_max);
break;
case AUTOTUNE_AXIS_YAW:
Log_Write_AutoTune(autotune_state.axis, autotune_state.tune_type, autotune_target_rate, autotune_test_min, autotune_test_max, tune_yaw_rp, tune_yaw_rLPF, tune_yaw_sp);
Log_Write_AutoTune(autotune_state.axis, autotune_state.tune_type, autotune_target_rate, autotune_test_min, autotune_test_max, tune_yaw_rp, tune_yaw_rLPF, tune_yaw_sp, autotune_test_accel_max);
break;
}
}

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