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ardupilot/Blimp/Log.cpp

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#include "Blimp.h"
#if LOGGING_ENABLED == ENABLED
// Code to Write and Read packets from AP_Logger log memory
// Code to interact with the user to dump or erase logs
struct PACKED log_FINI {
LOG_PACKET_HEADER;
uint64_t time_us;
float Right;
float Front;
float Down;
float Yaw;
};
struct PACKED log_FINO {
LOG_PACKET_HEADER;
uint64_t time_us;
float Fin1_Amp;
float Fin1_Off;
float Fin2_Amp;
float Fin2_Off;
float Fin3_Amp;
float Fin3_Off;
float Fin4_Amp;
float Fin4_Off;
};
//Write a fin input packet
void Blimp::Write_FINI(float right, float front, float down, float yaw)
{
const struct log_FINI pkt{
LOG_PACKET_HEADER_INIT(LOG_FINI_MSG),
time_us : AP_HAL::micros64(),
Right : right,
Front : front,
Down : down,
Yaw : yaw
};
logger.WriteBlock(&pkt, sizeof(pkt));
}
//Write a fin output packet
void Blimp::Write_FINO(float *amp, float *off)
{
const struct log_FINO pkt{
LOG_PACKET_HEADER_INIT(LOG_FINO_MSG),
time_us : AP_HAL::micros64(),
Fin1_Amp : amp[0],
Fin1_Off : off[0],
Fin2_Amp : amp[1],
Fin2_Off : off[1],
Fin3_Amp : amp[2],
Fin3_Off : off[2],
Fin4_Amp : amp[3],
Fin4_Off : off[3],
};
logger.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Control_Tuning {
LOG_PACKET_HEADER;
uint64_t time_us;
float throttle_in;
float angle_boost;
float throttle_out;
float throttle_hover;
float desired_alt;
float inav_alt;
int32_t baro_alt;
float desired_rangefinder_alt;
float rangefinder_alt;
float terr_alt;
int16_t target_climb_rate;
int16_t climb_rate;
};
// Write PID packets
void Blimp::Log_Write_PIDs()
{
logger.Write_PID(LOG_PIVN_MSG, pid_vel_xy.get_pid_info_x());
logger.Write_PID(LOG_PIVE_MSG, pid_vel_xy.get_pid_info_y());
logger.Write_PID(LOG_PIVD_MSG, pid_vel_z.get_pid_info());
logger.Write_PID(LOG_PIVY_MSG, pid_vel_yaw.get_pid_info());
logger.Write_PID(LOG_PIDN_MSG, pid_pos_xy.get_pid_info_x());
logger.Write_PID(LOG_PIDE_MSG, pid_pos_xy.get_pid_info_y());
logger.Write_PID(LOG_PIDD_MSG, pid_pos_z.get_pid_info());
logger.Write_PID(LOG_PIDY_MSG, pid_pos_yaw.get_pid_info());
}
// Write an attitude packet
void Blimp::Log_Write_Attitude()
{
}
// Write an EKF and POS packet
void Blimp::Log_Write_EKF_POS()
{
AP::ahrs().Log_Write();
ahrs.Write_AHRS2();
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
sitl.Log_Write_SIMSTATE();
#endif
ahrs.Write_POS();
}
struct PACKED log_MotBatt {
LOG_PACKET_HEADER;
uint64_t time_us;
float lift_max;
float bat_volt;
float bat_res;
float th_limit;
};
// Write an rate packet
void Blimp::Log_Write_MotBatt()
{
}
struct PACKED log_Data_Int16t {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t id;
int16_t data_value;
};
// Write an int16_t data packet
UNUSED_FUNCTION
void Blimp::Log_Write_Data(LogDataID id, int16_t value)
{
if (should_log(MASK_LOG_ANY)) {
struct log_Data_Int16t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_INT16_MSG),
time_us : AP_HAL::micros64(),
id : (uint8_t)id,
data_value : value
};
logger.WriteCriticalBlock(&pkt, sizeof(pkt));
}
}
struct PACKED log_Data_UInt16t {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t id;
uint16_t data_value;
};
// Write an uint16_t data packet
UNUSED_FUNCTION
void Blimp::Log_Write_Data(LogDataID id, uint16_t value)
{
if (should_log(MASK_LOG_ANY)) {
struct log_Data_UInt16t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_UINT16_MSG),
time_us : AP_HAL::micros64(),
id : (uint8_t)id,
data_value : value
};
logger.WriteCriticalBlock(&pkt, sizeof(pkt));
}
}
struct PACKED log_Data_Int32t {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t id;
int32_t data_value;
};
// Write an int32_t data packet
void Blimp::Log_Write_Data(LogDataID id, int32_t value)
{
if (should_log(MASK_LOG_ANY)) {
struct log_Data_Int32t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_INT32_MSG),
time_us : AP_HAL::micros64(),
id : (uint8_t)id,
data_value : value
};
logger.WriteCriticalBlock(&pkt, sizeof(pkt));
}
}
struct PACKED log_Data_UInt32t {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t id;
uint32_t data_value;
};
// Write a uint32_t data packet
void Blimp::Log_Write_Data(LogDataID id, uint32_t value)
{
if (should_log(MASK_LOG_ANY)) {
struct log_Data_UInt32t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_UINT32_MSG),
time_us : AP_HAL::micros64(),
id : (uint8_t)id,
data_value : value
};
logger.WriteCriticalBlock(&pkt, sizeof(pkt));
}
}
struct PACKED log_Data_Float {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t id;
float data_value;
};
// Write a float data packet
UNUSED_FUNCTION
void Blimp::Log_Write_Data(LogDataID id, float value)
{
if (should_log(MASK_LOG_ANY)) {
struct log_Data_Float pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_FLOAT_MSG),
time_us : AP_HAL::micros64(),
id : (uint8_t)id,
data_value : value
};
logger.WriteCriticalBlock(&pkt, sizeof(pkt));
}
}
struct PACKED log_ParameterTuning {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t parameter; // parameter we are tuning, e.g. 39 is CH6_CIRCLE_RATE
float tuning_value; // normalized value used inside tuning() function
float tuning_min; // tuning minimum value
float tuning_max; // tuning maximum value
};
void Blimp::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max)
{
struct log_ParameterTuning pkt_tune = {
LOG_PACKET_HEADER_INIT(LOG_PARAMTUNE_MSG),
time_us : AP_HAL::micros64(),
parameter : param,
tuning_value : tuning_val,
tuning_min : tune_min,
tuning_max : tune_max
};
logger.WriteBlock(&pkt_tune, sizeof(pkt_tune));
}
// logs when baro or compass becomes unhealthy
void Blimp::Log_Sensor_Health()
{
// check baro
if (sensor_health.baro != barometer.healthy()) {
sensor_health.baro = barometer.healthy();
AP::logger().Write_Error(LogErrorSubsystem::BARO,
(sensor_health.baro ? LogErrorCode::ERROR_RESOLVED : LogErrorCode::UNHEALTHY));
}
// check compass
if (sensor_health.compass != compass.healthy()) {
sensor_health.compass = compass.healthy();
AP::logger().Write_Error(LogErrorSubsystem::COMPASS, (sensor_health.compass ? LogErrorCode::ERROR_RESOLVED : LogErrorCode::UNHEALTHY));
}
}
struct PACKED log_SysIdD {
LOG_PACKET_HEADER;
uint64_t time_us;
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;
};
// Write an rate packet
void Blimp::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)
{
#if MODE_SYSTEMID_ENABLED == ENABLED
struct log_SysIdD pkt_sidd = {
LOG_PACKET_HEADER_INIT(LOG_SYSIDD_MSG),
time_us : AP_HAL::micros64(),
waveform_time : waveform_time,
waveform_sample : waveform_sample,
waveform_freq : waveform_freq,
angle_x : angle_x,
angle_y : angle_y,
angle_z : angle_z,
accel_x : accel_x,
accel_y : accel_y,
accel_z : accel_z
};
logger.WriteBlock(&pkt_sidd, sizeof(pkt_sidd));
#endif
}
struct PACKED log_SysIdS {
LOG_PACKET_HEADER;
uint64_t time_us;
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;
};
// Write an rate packet
void Blimp::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)
{
#if MODE_SYSTEMID_ENABLED == ENABLED
struct log_SysIdS pkt_sids = {
LOG_PACKET_HEADER_INIT(LOG_SYSIDS_MSG),
time_us : AP_HAL::micros64(),
systemID_axis : systemID_axis,
waveform_magnitude : waveform_magnitude,
frequency_start : frequency_start,
frequency_stop : frequency_stop,
time_fade_in : time_fade_in,
time_const_freq : time_const_freq,
time_record : time_record,
time_fade_out : time_fade_out
};
logger.WriteBlock(&pkt_sids, sizeof(pkt_sids));
#endif
}
// type and unit information can be found in
// libraries/AP_Logger/Logstructure.h; search for "log_Units" for
// units and "Format characters" for field type information
const struct LogStructure Blimp::log_structure[] = {
LOG_COMMON_STRUCTURES,
// @LoggerMessage: FINI
// @Description: Fin input
// @Field: TimeUS: Time since system startup
// @Field: R: Right
// @Field: F: Front
// @Field: D: Down
// @Field: Y: Yaw
{ LOG_FINI_MSG, sizeof(log_FINI),
"FINI", "Qffff", "TimeUS,R,F,D,Y", "s----", "F----" },
// @LoggerMessage: FINO
// @Description: Fin output
// @Field: TimeUS: Time since system startup
// @Field: F1A: Fin 1 Amplitude
// @Field: F1O: Fin 1 Offset
// @Field: F2A: Fin 2 Amplitude
// @Field: F2O: Fin 2 Offset
// @Field: F3A: Fin 3 Amplitude
// @Field: F3O: Fin 3 Offset
// @Field: F4A: Fin 4 Amplitude
// @Field: F4O: Fin 4 Offset
{ LOG_FINO_MSG, sizeof(log_FINO),
"FINO", "Qffffffff", "TimeUS,F1A,F1O,F2A,F2O,F3A,F3O,F4A,F4O", "s--------", "F--------" },
// @LoggerMessage: PIDD,PIVN,PIVE,PIVD,PIVY
// @Description: Proportional/Integral/Derivative gain values
// @Field: TimeUS: Time since system startup
// @Field: Tar: desired value
// @Field: Act: achieved value
// @Field: Err: error between target and achieved
// @Field: P: proportional part of PID
// @Field: I: integral part of PID
// @Field: D: derivative part of PID
// @Field: FF: controller feed-forward portion of response
// @Field: Dmod: scaler applied to D gain to reduce limit cycling
// @Field: SRate: slew rate
// @Field: Limit: 1 if I term is limited due to output saturation
{ LOG_PIDD_MSG, sizeof(log_PID),
"PIDD", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS },
{ LOG_PIVN_MSG, sizeof(log_PID),
"PIVN", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS },
{ LOG_PIVE_MSG, sizeof(log_PID),
"PIVE", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS },
{ LOG_PIVD_MSG, sizeof(log_PID),
"PIVD", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS },
{ LOG_PIVY_MSG, sizeof(log_PID),
"PIVY", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS },
// @LoggerMessage: PTUN
// @Description: Parameter Tuning information
// @URL: https://ardupilot.org/blimp/docs/tuning.html#in-flight-tuning
// @Field: TimeUS: Time since system startup
// @Field: Param: Parameter being tuned
// @Field: TunVal: Normalized value used inside tuning() function
// @Field: TunMin: Tuning minimum limit
// @Field: TunMax: Tuning maximum limit
{
LOG_PARAMTUNE_MSG, sizeof(log_ParameterTuning),
"PTUN", "QBfff", "TimeUS,Param,TunVal,TunMin,TunMax", "s----", "F----"
},
// @LoggerMessage: CTUN
// @Description: Control Tuning information
// @Field: TimeUS: Time since system startup
// @Field: ThI: throttle input
// @Field: ABst: angle boost
// @Field: ThO: throttle output
// @Field: ThH: calculated hover throttle
// @Field: DAlt: desired altitude
// @Field: Alt: achieved altitude
// @Field: BAlt: barometric altitude
// @Field: DSAlt: desired rangefinder altitude
// @Field: SAlt: achieved rangefinder altitude
// @Field: TAlt: terrain altitude
// @Field: DCRt: desired climb rate
// @Field: CRt: climb rate
// @LoggerMessage: D16
// @Description: Generic 16-bit-signed-integer storage
// @Field: TimeUS: Time since system startup
// @Field: Id: Data type identifier
// @Field: Value: Value
// @LoggerMessage: DU16
// @Description: Generic 16-bit-unsigned-integer storage
// @Field: TimeUS: Time since system startup
// @Field: Id: Data type identifier
// @Field: Value: Value
// @LoggerMessage: D32
// @Description: Generic 32-bit-signed-integer storage
// @Field: TimeUS: Time since system startup
// @Field: Id: Data type identifier
// @Field: Value: Value
// @LoggerMessage: DFLT
// @Description: Generic float storage
// @Field: TimeUS: Time since system startup
// @Field: Id: Data type identifier
// @Field: Value: Value
// @LoggerMessage: DU32
// @Description: Generic 32-bit-unsigned-integer storage
// @Field: TimeUS: Time since system startup
// @Field: Id: Data type identifier
// @Field: Value: Value
{
LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning),
"CTUN", "Qffffffefffhh", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DSAlt,SAlt,TAlt,DCRt,CRt", "s----mmmmmmnn", "F----00B000BB"
},
// @LoggerMessage: MOTB
// @Description: Battery information
// @Field: TimeUS: Time since system startup
// @Field: LiftMax: Maximum motor compensation gain
// @Field: BatVolt: Ratio betwen detected battery voltage and maximum battery voltage
// @Field: BatRes: Estimated battery resistance
// @Field: ThLimit: Throttle limit set due to battery current limitations
{
LOG_MOTBATT_MSG, sizeof(log_MotBatt),
"MOTB", "Qffff", "TimeUS,LiftMax,BatVolt,BatRes,ThLimit", "s-vw-", "F-00-"
},
{
LOG_DATA_INT16_MSG, sizeof(log_Data_Int16t),
"D16", "QBh", "TimeUS,Id,Value", "s--", "F--"
},
{
LOG_DATA_UINT16_MSG, sizeof(log_Data_UInt16t),
"DU16", "QBH", "TimeUS,Id,Value", "s--", "F--"
},
{
LOG_DATA_INT32_MSG, sizeof(log_Data_Int32t),
"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: 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 Blimp::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 Blimp::log_init(void)
{
logger.Init(log_structure, ARRAY_SIZE(log_structure));
}
#else // LOGGING_ENABLED
void Blimp::Log_Write_Performance() {}
void Blimp::Log_Write_Attitude(void) {}
void Blimp::Log_Write_PIDs(void) {}
void Blimp::Log_Write_EKF_POS() {}
void Blimp::Log_Write_MotBatt() {}
void Blimp::Log_Write_Data(LogDataID id, int32_t value) {}
void Blimp::Log_Write_Data(LogDataID id, uint32_t value) {}
void Blimp::Log_Write_Data(LogDataID id, int16_t value) {}
void Blimp::Log_Write_Data(LogDataID id, uint16_t value) {}
void Blimp::Log_Write_Data(LogDataID id, float value) {}
void Blimp::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max) {}
void Blimp::Log_Sensor_Health() {}
void Blimp::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
void Blimp::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 Blimp::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 Blimp::Log_Write_Vehicle_Startup_Messages() {}
void Blimp::log_init(void) {}
#endif // LOGGING_ENABLED