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657 lines
22 KiB
657 lines
22 KiB
#include "Copter.h" |
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#if LOGGING_ENABLED == ENABLED |
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// Code to Write and Read packets from AP_Logger log memory |
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// Code to interact with the user to dump or erase logs |
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struct PACKED log_Control_Tuning { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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float throttle_in; |
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float angle_boost; |
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float throttle_out; |
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float throttle_hover; |
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float desired_alt; |
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float inav_alt; |
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int32_t baro_alt; |
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float desired_rangefinder_alt; |
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float rangefinder_alt; |
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float terr_alt; |
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int16_t target_climb_rate; |
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int16_t climb_rate; |
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}; |
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// Write a control tuning packet |
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void Copter::Log_Write_Control_Tuning() |
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{ |
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// get terrain altitude |
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float terr_alt = 0.0f; |
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#if AP_TERRAIN_AVAILABLE && AC_TERRAIN |
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if (!terrain.height_above_terrain(terr_alt, true)) { |
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terr_alt = logger.quiet_nan(); |
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} |
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#endif |
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float des_alt_m = 0.0f; |
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int16_t target_climb_rate_cms = 0; |
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if (!flightmode->has_manual_throttle()) { |
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des_alt_m = pos_control->get_alt_target() / 100.0f; |
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target_climb_rate_cms = pos_control->get_vel_target_z(); |
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} |
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// get surface tracking alts |
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float desired_rangefinder_alt; |
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if (!surface_tracking.get_target_dist_for_logging(desired_rangefinder_alt)) { |
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desired_rangefinder_alt = AP::logger().quiet_nan(); |
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} |
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struct log_Control_Tuning pkt = { |
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LOG_PACKET_HEADER_INIT(LOG_CONTROL_TUNING_MSG), |
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time_us : AP_HAL::micros64(), |
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throttle_in : attitude_control->get_throttle_in(), |
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angle_boost : attitude_control->angle_boost(), |
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throttle_out : motors->get_throttle(), |
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throttle_hover : motors->get_throttle_hover(), |
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desired_alt : des_alt_m, |
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inav_alt : inertial_nav.get_altitude() / 100.0f, |
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baro_alt : baro_alt, |
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desired_rangefinder_alt : desired_rangefinder_alt, |
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rangefinder_alt : surface_tracking.get_dist_for_logging(), |
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terr_alt : terr_alt, |
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target_climb_rate : target_climb_rate_cms, |
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climb_rate : int16_t(inertial_nav.get_velocity_z()) // float -> int16_t |
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}; |
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logger.WriteBlock(&pkt, sizeof(pkt)); |
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} |
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// Write an attitude packet |
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void Copter::Log_Write_Attitude() |
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{ |
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Vector3f targets = attitude_control->get_att_target_euler_cd(); |
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targets.z = wrap_360_cd(targets.z); |
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logger.Write_Attitude(targets); |
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logger.Write_Rate(ahrs_view, *motors, *attitude_control, *pos_control); |
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if (should_log(MASK_LOG_PID)) { |
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logger.Write_PID(LOG_PIDR_MSG, attitude_control->get_rate_roll_pid().get_pid_info()); |
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logger.Write_PID(LOG_PIDP_MSG, attitude_control->get_rate_pitch_pid().get_pid_info()); |
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logger.Write_PID(LOG_PIDY_MSG, attitude_control->get_rate_yaw_pid().get_pid_info()); |
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logger.Write_PID(LOG_PIDA_MSG, pos_control->get_accel_z_pid().get_pid_info() ); |
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} |
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} |
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// Write an EKF and POS packet |
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void Copter::Log_Write_EKF_POS() |
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{ |
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AP::ahrs_navekf().Log_Write(); |
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logger.Write_AHRS2(); |
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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sitl.Log_Write_SIMSTATE(); |
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#endif |
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logger.Write_POS(); |
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} |
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struct PACKED log_MotBatt { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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float lift_max; |
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float bat_volt; |
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float bat_res; |
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float th_limit; |
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}; |
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// Write an rate packet |
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void Copter::Log_Write_MotBatt() |
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{ |
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#if FRAME_CONFIG != HELI_FRAME |
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struct log_MotBatt pkt_mot = { |
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LOG_PACKET_HEADER_INIT(LOG_MOTBATT_MSG), |
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time_us : AP_HAL::micros64(), |
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lift_max : (float)(motors->get_lift_max()), |
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bat_volt : (float)(motors->get_batt_voltage_filt()), |
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bat_res : (float)(battery.get_resistance()), |
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th_limit : (float)(motors->get_throttle_limit()) |
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}; |
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logger.WriteBlock(&pkt_mot, sizeof(pkt_mot)); |
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#endif |
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} |
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struct PACKED log_Data_Int16t { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t id; |
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int16_t data_value; |
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}; |
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// Write an int16_t data packet |
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UNUSED_FUNCTION |
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void Copter::Log_Write_Data(LogDataID id, int16_t value) |
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{ |
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if (should_log(MASK_LOG_ANY)) { |
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struct log_Data_Int16t pkt = { |
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LOG_PACKET_HEADER_INIT(LOG_DATA_INT16_MSG), |
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time_us : AP_HAL::micros64(), |
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id : (uint8_t)id, |
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data_value : value |
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}; |
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logger.WriteCriticalBlock(&pkt, sizeof(pkt)); |
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} |
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} |
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struct PACKED log_Data_UInt16t { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t id; |
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uint16_t data_value; |
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}; |
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// Write an uint16_t data packet |
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UNUSED_FUNCTION |
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void Copter::Log_Write_Data(LogDataID id, uint16_t value) |
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{ |
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if (should_log(MASK_LOG_ANY)) { |
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struct log_Data_UInt16t pkt = { |
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LOG_PACKET_HEADER_INIT(LOG_DATA_UINT16_MSG), |
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time_us : AP_HAL::micros64(), |
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id : (uint8_t)id, |
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data_value : value |
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}; |
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logger.WriteCriticalBlock(&pkt, sizeof(pkt)); |
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} |
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} |
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struct PACKED log_Data_Int32t { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t id; |
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int32_t data_value; |
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}; |
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// Write an int32_t data packet |
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void Copter::Log_Write_Data(LogDataID id, int32_t value) |
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{ |
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if (should_log(MASK_LOG_ANY)) { |
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struct log_Data_Int32t pkt = { |
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LOG_PACKET_HEADER_INIT(LOG_DATA_INT32_MSG), |
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time_us : AP_HAL::micros64(), |
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id : (uint8_t)id, |
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data_value : value |
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}; |
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logger.WriteCriticalBlock(&pkt, sizeof(pkt)); |
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} |
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} |
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struct PACKED log_Data_UInt32t { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t id; |
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uint32_t data_value; |
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}; |
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// Write a uint32_t data packet |
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void Copter::Log_Write_Data(LogDataID id, uint32_t value) |
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{ |
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if (should_log(MASK_LOG_ANY)) { |
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struct log_Data_UInt32t pkt = { |
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LOG_PACKET_HEADER_INIT(LOG_DATA_UINT32_MSG), |
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time_us : AP_HAL::micros64(), |
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id : (uint8_t)id, |
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data_value : value |
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}; |
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logger.WriteCriticalBlock(&pkt, sizeof(pkt)); |
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} |
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} |
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struct PACKED log_Data_Float { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t id; |
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float data_value; |
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}; |
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// Write a float data packet |
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UNUSED_FUNCTION |
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void Copter::Log_Write_Data(LogDataID id, float value) |
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{ |
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if (should_log(MASK_LOG_ANY)) { |
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struct log_Data_Float pkt = { |
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LOG_PACKET_HEADER_INIT(LOG_DATA_FLOAT_MSG), |
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time_us : AP_HAL::micros64(), |
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id : (uint8_t)id, |
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data_value : value |
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}; |
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logger.WriteCriticalBlock(&pkt, sizeof(pkt)); |
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} |
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} |
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struct PACKED log_ParameterTuning { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t parameter; // parameter we are tuning, e.g. 39 is CH6_CIRCLE_RATE |
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float tuning_value; // normalized value used inside tuning() function |
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float tuning_min; // tuning minimum value |
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float tuning_max; // tuning maximum value |
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}; |
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void Copter::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max) |
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{ |
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struct log_ParameterTuning pkt_tune = { |
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LOG_PACKET_HEADER_INIT(LOG_PARAMTUNE_MSG), |
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time_us : AP_HAL::micros64(), |
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parameter : param, |
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tuning_value : tuning_val, |
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tuning_min : tune_min, |
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tuning_max : tune_max |
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}; |
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logger.WriteBlock(&pkt_tune, sizeof(pkt_tune)); |
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} |
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// logs when baro or compass becomes unhealthy |
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void Copter::Log_Sensor_Health() |
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{ |
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// check baro |
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if (sensor_health.baro != barometer.healthy()) { |
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sensor_health.baro = barometer.healthy(); |
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AP::logger().Write_Error(LogErrorSubsystem::BARO, |
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(sensor_health.baro ? LogErrorCode::ERROR_RESOLVED : LogErrorCode::UNHEALTHY)); |
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} |
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// check compass |
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if (sensor_health.compass != compass.healthy()) { |
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sensor_health.compass = compass.healthy(); |
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AP::logger().Write_Error(LogErrorSubsystem::COMPASS, (sensor_health.compass ? LogErrorCode::ERROR_RESOLVED : LogErrorCode::UNHEALTHY)); |
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} |
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// check primary GPS |
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if (sensor_health.primary_gps != gps.primary_sensor()) { |
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sensor_health.primary_gps = gps.primary_sensor(); |
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AP::logger().Write_Event(LogEvent::GPS_PRIMARY_CHANGED); |
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} |
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} |
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struct PACKED log_SysIdD { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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float waveform_time; |
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float waveform_sample; |
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float waveform_freq; |
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float angle_x; |
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float angle_y; |
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float angle_z; |
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float accel_x; |
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float accel_y; |
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float accel_z; |
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}; |
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// Write an rate packet |
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void Copter::Log_Write_SysID_Data(float waveform_time, float waveform_sample, float waveform_freq, float angle_x, float angle_y, float angle_z, float accel_x, float accel_y, float accel_z) |
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{ |
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#if MODE_SYSTEMID_ENABLED == ENABLED |
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struct log_SysIdD pkt_sidd = { |
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LOG_PACKET_HEADER_INIT(LOG_SYSIDD_MSG), |
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time_us : AP_HAL::micros64(), |
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waveform_time : waveform_time, |
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waveform_sample : waveform_sample, |
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waveform_freq : waveform_freq, |
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angle_x : angle_x, |
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angle_y : angle_y, |
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angle_z : angle_z, |
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accel_x : accel_x, |
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accel_y : accel_y, |
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accel_z : accel_z |
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}; |
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logger.WriteBlock(&pkt_sidd, sizeof(pkt_sidd)); |
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#endif |
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} |
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struct PACKED log_SysIdS { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t systemID_axis; |
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float waveform_magnitude; |
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float frequency_start; |
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float frequency_stop; |
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float time_fade_in; |
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float time_const_freq; |
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float time_record; |
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float time_fade_out; |
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}; |
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// Write an rate packet |
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void Copter::Log_Write_SysID_Setup(uint8_t systemID_axis, float waveform_magnitude, float frequency_start, float frequency_stop, float time_fade_in, float time_const_freq, float time_record, float time_fade_out) |
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{ |
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#if MODE_SYSTEMID_ENABLED == ENABLED |
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struct log_SysIdS pkt_sids = { |
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LOG_PACKET_HEADER_INIT(LOG_SYSIDS_MSG), |
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time_us : AP_HAL::micros64(), |
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systemID_axis : systemID_axis, |
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waveform_magnitude : waveform_magnitude, |
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frequency_start : frequency_start, |
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frequency_stop : frequency_stop, |
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time_fade_in : time_fade_in, |
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time_const_freq : time_const_freq, |
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time_record : time_record, |
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time_fade_out : time_fade_out |
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}; |
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logger.WriteBlock(&pkt_sids, sizeof(pkt_sids)); |
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#endif |
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} |
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#if FRAME_CONFIG == HELI_FRAME |
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struct PACKED log_Heli { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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float desired_rotor_speed; |
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float main_rotor_speed; |
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float governor_output; |
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float control_output; |
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}; |
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// Write an helicopter packet |
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void Copter::Log_Write_Heli() |
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{ |
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struct log_Heli pkt_heli = { |
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LOG_PACKET_HEADER_INIT(LOG_HELI_MSG), |
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time_us : AP_HAL::micros64(), |
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desired_rotor_speed : motors->get_desired_rotor_speed(), |
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main_rotor_speed : motors->get_main_rotor_speed(), |
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governor_output : motors->get_governor_output(), |
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control_output : motors->get_control_output(), |
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}; |
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logger.WriteBlock(&pkt_heli, sizeof(pkt_heli)); |
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} |
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#endif |
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// precision landing logging |
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struct PACKED log_Precland { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t healthy; |
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uint8_t target_acquired; |
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float pos_x; |
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float pos_y; |
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float vel_x; |
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float vel_y; |
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float meas_x; |
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float meas_y; |
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float meas_z; |
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uint32_t last_meas; |
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uint32_t ekf_outcount; |
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uint8_t estimator; |
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}; |
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// Write a precision landing entry |
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void Copter::Log_Write_Precland() |
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{ |
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#if PRECISION_LANDING == ENABLED |
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// exit immediately if not enabled |
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if (!precland.enabled()) { |
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return; |
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} |
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Vector3f target_pos_meas = Vector3f(0.0f,0.0f,0.0f); |
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Vector2f target_pos_rel = Vector2f(0.0f,0.0f); |
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Vector2f target_vel_rel = Vector2f(0.0f,0.0f); |
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precland.get_target_position_relative_cm(target_pos_rel); |
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precland.get_target_velocity_relative_cms(target_vel_rel); |
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precland.get_target_position_measurement_cm(target_pos_meas); |
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struct log_Precland pkt = { |
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LOG_PACKET_HEADER_INIT(LOG_PRECLAND_MSG), |
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time_us : AP_HAL::micros64(), |
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healthy : precland.healthy(), |
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target_acquired : precland.target_acquired(), |
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pos_x : target_pos_rel.x, |
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pos_y : target_pos_rel.y, |
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vel_x : target_vel_rel.x, |
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vel_y : target_vel_rel.y, |
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meas_x : target_pos_meas.x, |
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meas_y : target_pos_meas.y, |
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meas_z : target_pos_meas.z, |
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last_meas : precland.last_backend_los_meas_ms(), |
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ekf_outcount : precland.ekf_outlier_count(), |
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estimator : precland.estimator_type() |
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}; |
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logger.WriteBlock(&pkt, sizeof(pkt)); |
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#endif // PRECISION_LANDING == ENABLED |
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} |
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// guided target logging |
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struct PACKED log_GuidedTarget { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t type; |
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float pos_target_x; |
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float pos_target_y; |
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float pos_target_z; |
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float vel_target_x; |
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float vel_target_y; |
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float vel_target_z; |
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}; |
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// Write a Guided mode target |
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// pos_target is lat, lon, alt OR offset from ekf origin in cm OR roll, pitch, yaw target in centi-degrees |
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// vel_target is cm/s |
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void Copter::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) |
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{ |
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struct log_GuidedTarget pkt = { |
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LOG_PACKET_HEADER_INIT(LOG_GUIDEDTARGET_MSG), |
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time_us : AP_HAL::micros64(), |
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type : target_type, |
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pos_target_x : pos_target.x, |
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pos_target_y : pos_target.y, |
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pos_target_z : pos_target.z, |
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vel_target_x : vel_target.x, |
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vel_target_y : vel_target.y, |
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vel_target_z : vel_target.z |
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}; |
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logger.WriteBlock(&pkt, sizeof(pkt)); |
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} |
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// type and unit information can be found in |
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// libraries/AP_Logger/Logstructure.h; search for "log_Units" for |
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// units and "Format characters" for field type information |
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const struct LogStructure Copter::log_structure[] = { |
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LOG_COMMON_STRUCTURES, |
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|
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// @LoggerMessage: PTUN |
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// @Description: Parameter Tuning information |
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// @URL: https://ardupilot.org/copter/docs/tuning.html#in-flight-tuning |
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// @Field: TimeUS: Time since system startup |
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// @Field: Param: Parameter being tuned |
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// @Field: TunVal: Normalized value used inside tuning() function |
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// @Field: TunMin: Tuning minimum limit |
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// @Field: TunMax: Tuning maximum limit |
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|
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{ LOG_PARAMTUNE_MSG, sizeof(log_ParameterTuning), |
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"PTUN", "QBfff", "TimeUS,Param,TunVal,TunMin,TunMax", "s----", "F----" }, |
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|
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// @LoggerMessage: CTUN |
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// @Description: Control Tuning information |
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// @Field: TimeUS: Time since system startup |
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// @Field: ThI: throttle input |
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// @Field: ABst: angle boost |
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// @Field: ThO: throttle output |
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// @Field: ThH: calculated hover throttle |
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// @Field: DAlt: desired altitude |
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// @Field: Alt: achieved altitude |
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// @Field: BAlt: barometric altitude |
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// @Field: DSAlt: desired rangefinder altitude |
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// @Field: SAlt: achieved rangefinder altitude |
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// @Field: TAlt: terrain altitude |
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// @Field: DCRt: desired climb rate |
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// @Field: CRt: climb rate |
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|
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// @LoggerMessage: D16 |
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// @Description: Generic 16-bit-signed-integer storage |
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// @Field: TimeUS: Time since system startup |
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// @Field: Id: Data type identifier |
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// @Field: Value: Value |
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|
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// @LoggerMessage: DU16 |
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// @Description: Generic 16-bit-unsigned-integer storage |
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// @Field: TimeUS: Time since system startup |
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// @Field: Id: Data type identifier |
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// @Field: Value: Value |
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|
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// @LoggerMessage: D32 |
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// @Description: Generic 32-bit-signed-integer storage |
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// @Field: TimeUS: Time since system startup |
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// @Field: Id: Data type identifier |
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// @Field: Value: Value |
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|
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// @LoggerMessage: DFLT |
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// @Description: Generic float storage |
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// @Field: TimeUS: Time since system startup |
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// @Field: Id: Data type identifier |
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// @Field: Value: Value |
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|
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// @LoggerMessage: DU32 |
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// @Description: Generic 32-bit-unsigned-integer storage |
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// @Field: TimeUS: Time since system startup |
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// @Field: Id: Data type identifier |
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// @Field: Value: Value |
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|
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{ LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning), |
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"CTUN", "Qffffffefffhh", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DSAlt,SAlt,TAlt,DCRt,CRt", "s----mmmmmmnn", "F----00B000BB" }, |
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|
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// @LoggerMessage: MOTB |
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// @Description: Battery information |
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// @Field: TimeUS: Time since system startup |
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// @Field: LiftMax: Maximum motor compensation gain |
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// @Field: BatVolt: Ratio betwen detected battery voltage and maximum battery voltage |
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// @Field: BatRes: Estimated battery resistance |
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// @Field: ThLimit: Throttle limit set due to battery current limitations |
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|
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{ LOG_MOTBATT_MSG, sizeof(log_MotBatt), |
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"MOTB", "Qffff", "TimeUS,LiftMax,BatVolt,BatRes,ThLimit", "s-vw-", "F-00-" }, |
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{ LOG_DATA_INT16_MSG, sizeof(log_Data_Int16t), |
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"D16", "QBh", "TimeUS,Id,Value", "s--", "F--" }, |
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{ LOG_DATA_UINT16_MSG, sizeof(log_Data_UInt16t), |
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"DU16", "QBH", "TimeUS,Id,Value", "s--", "F--" }, |
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{ LOG_DATA_INT32_MSG, sizeof(log_Data_Int32t), |
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"D32", "QBi", "TimeUS,Id,Value", "s--", "F--" }, |
|
{ LOG_DATA_UINT32_MSG, sizeof(log_Data_UInt32t), |
|
"DU32", "QBI", "TimeUS,Id,Value", "s--", "F--" }, |
|
{ LOG_DATA_FLOAT_MSG, sizeof(log_Data_Float), |
|
"DFLT", "QBf", "TimeUS,Id,Value", "s--", "F--" }, |
|
|
|
// @LoggerMessage: HELI |
|
// @Description: Helicopter related messages |
|
// @Field: TimeUS: Time since system startup |
|
// @Field: DRRPM: Desired rotor speed |
|
// @Field: ERRPM: Estimated rotor speed |
|
// @Field: Gov: Governor Output |
|
// @Field: Throt: Throttle output |
|
#if FRAME_CONFIG == HELI_FRAME |
|
{ LOG_HELI_MSG, sizeof(log_Heli), |
|
"HELI", "Qffff", "TimeUS,DRRPM,ERRPM,Gov,Throt", "s----", "F----" }, |
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#endif |
|
|
|
// @LoggerMessage: PL |
|
// @Description: Precision Landing messages |
|
// @Field: TimeUS: Time since system startup |
|
// @Field: Heal: True if Precision Landing is healthy |
|
// @Field: TAcq: True if landing target is detected |
|
// @Field: pX: Target position relative to vehicle, X-Axis (0 if target not found) |
|
// @Field: pY: Target position relative to vehicle, Y-Axis (0 if target not found) |
|
// @Field: vX: Target velocity relative to vehicle, X-Axis (0 if target not found) |
|
// @Field: vY: Target velocity relative to vehicle, Y-Axis (0 if target not found) |
|
// @Field: mX: Target's relative to origin position as 3-D Vector, X-Axis |
|
// @Field: mY: Target's relative to origin position as 3-D Vector, Y-Axis |
|
// @Field: mZ: Target's relative to origin position as 3-D Vector, Z-Axis |
|
// @Field: LastMeasMS: Time when target was last detected |
|
// @Field: EKFOutl: EKF's outlier count |
|
// @Field: Est: Type of estimator used |
|
#if PRECISION_LANDING == ENABLED |
|
{ LOG_PRECLAND_MSG, sizeof(log_Precland), |
|
"PL", "QBBfffffffIIB", "TimeUS,Heal,TAcq,pX,pY,vX,vY,mX,mY,mZ,LastMeasMS,EKFOutl,Est", "s--mmnnmmms--","F--BBBBBBBC--" }, |
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#endif |
|
|
|
// @LoggerMessage: SIDD |
|
// @Description: System ID data |
|
// @Field: TimeUS: Time since system startup |
|
// @Field: Time: Time reference for waveform |
|
// @Field: Targ: Current waveform sample |
|
// @Field: F: Instantaneous waveform frequency |
|
// @Field: Gx: Delta angle, X-Axis |
|
// @Field: Gy: Delta angle, Y-Axis |
|
// @Field: Gz: Delta angle, Z-Axis |
|
// @Field: Ax: Delta velocity, X-Axis |
|
// @Field: Ay: Delta velocity, Y-Axis |
|
// @Field: Az: Delta velocity, Z-Axis |
|
|
|
{ LOG_SYSIDD_MSG, sizeof(log_SysIdD), |
|
"SIDD", "Qfffffffff", "TimeUS,Time,Targ,F,Gx,Gy,Gz,Ax,Ay,Az", "ss-zkkkooo", "F---------" }, |
|
|
|
// @LoggerMessage: SIDS |
|
// @Description: System ID settings |
|
// @Field: TimeUS: Time since system startup |
|
// @Field: Ax: The axis which is being excited |
|
// @Field: Mag: Magnitude of the chirp waveform |
|
// @Field: FSt: Frequency at the start of chirp |
|
// @Field: FSp: Frequency at the end of chirp |
|
// @Field: TFin: Time to reach maximum amplitude of chirp |
|
// @Field: TC: Time at constant frequency before chirp starts |
|
// @Field: TR: Time taken to complete chirp waveform |
|
// @Field: TFout: Time to reach zero amplitude after chirp finishes |
|
|
|
{ LOG_SYSIDS_MSG, sizeof(log_SysIdS), |
|
"SIDS", "QBfffffff", "TimeUS,Ax,Mag,FSt,FSp,TFin,TC,TR,TFout", "s--ssssss", "F--------" }, |
|
|
|
// @LoggerMessage: GUID |
|
// @Description: Guided mode target information |
|
// @Field: TimeUS: Time since system startup |
|
// @Field: Type: Type of guided mode |
|
// @Field: pX: Target position, X-Axis |
|
// @Field: pY: Target position, Y-Axis |
|
// @Field: pZ: Target position, Z-Axis |
|
// @Field: vX: Target velocity, X-Axis |
|
// @Field: vY: Target velocity, Y-Axis |
|
// @Field: vZ: Target velocity, Z-Axis |
|
|
|
{ LOG_GUIDEDTARGET_MSG, sizeof(log_GuidedTarget), |
|
"GUID", "QBffffff", "TimeUS,Type,pX,pY,pZ,vX,vY,vZ", "s-mmmnnn", "F-BBBBBB" }, |
|
}; |
|
|
|
void Copter::Log_Write_Vehicle_Startup_Messages() |
|
{ |
|
// only 200(?) bytes are guaranteed by AP_Logger |
|
logger.Write_MessageF("Frame: %s", get_frame_string()); |
|
logger.Write_Mode((uint8_t)control_mode, control_mode_reason); |
|
ahrs.Log_Write_Home_And_Origin(); |
|
gps.Write_AP_Logger_Log_Startup_messages(); |
|
} |
|
|
|
void Copter::log_init(void) |
|
{ |
|
logger.Init(log_structure, ARRAY_SIZE(log_structure)); |
|
} |
|
|
|
#else // LOGGING_ENABLED |
|
|
|
void Copter::Log_Write_Control_Tuning() {} |
|
void Copter::Log_Write_Performance() {} |
|
void Copter::Log_Write_Attitude(void) {} |
|
void Copter::Log_Write_EKF_POS() {} |
|
void Copter::Log_Write_MotBatt() {} |
|
void Copter::Log_Write_Data(LogDataID id, int32_t value) {} |
|
void Copter::Log_Write_Data(LogDataID id, uint32_t value) {} |
|
void Copter::Log_Write_Data(LogDataID id, int16_t value) {} |
|
void Copter::Log_Write_Data(LogDataID id, uint16_t value) {} |
|
void Copter::Log_Write_Data(LogDataID id, float value) {} |
|
void Copter::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max) {} |
|
void Copter::Log_Sensor_Health() {} |
|
void Copter::Log_Write_Precland() {} |
|
void Copter::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {} |
|
void Copter::Log_Write_SysID_Setup(uint8_t systemID_axis, float waveform_magnitude, float frequency_start, float frequency_stop, float time_fade_in, float time_const_freq, float time_record, float time_fade_out) {} |
|
void Copter::Log_Write_SysID_Data(float waveform_time, float waveform_sample, float waveform_freq, float angle_x, float angle_y, float angle_z, float accel_x, float accel_y, float accel_z) {} |
|
void Copter::Log_Write_Vehicle_Startup_Messages() {} |
|
|
|
#if FRAME_CONFIG == HELI_FRAME |
|
void Copter::Log_Write_Heli() {} |
|
#endif |
|
|
|
void Copter::log_init(void) {} |
|
|
|
#endif // LOGGING_ENABLED
|
|
|