log velocity - and acceleration/thrust setpoint

msg/vehicle_local_position_setpoint.msg

@@ -1,7 +1,13 @@
-# Local position in NED frame
+# Local position setpoint in NED frame
 
 uint64 timestamp	# timestamp of the setpoint
 float32 x		# in meters NED
 float32 y		# in meters NED
 float32 z		# in meters NED
 float32 yaw		# in radians NED -PI..+PI
+float32 vx		# in meters/sec
+float32 vy		# in meters/sec
+float32 vz		# in meters/sec
+float32 acc_x	# in meters/(sec*sec)
+float32 acc_y	# in meters/(sec*sec)
+float32 acc_z	# in meters/(sec*sec)

src/modules/mc_pos_control/mc_pos_control_main.cpp

@@ -982,22 +982,6 @@ MulticopterPositionControl::task_main()
 				control_auto(dt);
 			}
 
-			/* fill local position setpoint */
-			_local_pos_sp.timestamp = hrt_absolute_time();
-			_local_pos_sp.x = _pos_sp(0);
-			_local_pos_sp.y = _pos_sp(1);
-			_local_pos_sp.z = _pos_sp(2);
-			_local_pos_sp.yaw = _att_sp.yaw_body;
-
-			/* publish local position setpoint */
-			if (_local_pos_sp_pub > 0) {
-				orb_publish(ORB_ID(vehicle_local_position_setpoint), _local_pos_sp_pub, &_local_pos_sp);
-
-			} else {
-				_local_pos_sp_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &_local_pos_sp);
-			}
-
-
 			if (!_control_mode.flag_control_manual_enabled && _pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_IDLE) {
 				/* idle state, don't run controller and set zero thrust */
 				R.identity();
@@ -1298,6 +1282,11 @@ MulticopterPositionControl::task_main()
 
 					_att_sp.thrust = thrust_abs;
 
+					/* save thrust setpoint for logging */
+					_local_pos_sp.acc_x = thrust_sp(0);
+					_local_pos_sp.acc_x = thrust_sp(1);
+					_local_pos_sp.acc_x = thrust_sp(2);
+
 					_att_sp.timestamp = hrt_absolute_time();
 
 					/* publish attitude setpoint */
@@ -1313,6 +1302,23 @@ MulticopterPositionControl::task_main()
 				}
 			}
 
+			/* fill local position, velocity and thrust setpoint */
+			_local_pos_sp.timestamp = hrt_absolute_time();
+			_local_pos_sp.x = _pos_sp(0);
+			_local_pos_sp.y = _pos_sp(1);
+			_local_pos_sp.z = _pos_sp(2);
+			_local_pos_sp.yaw = _att_sp.yaw_body;
+			_local_pos_sp.vx = _vel_sp(0);
+			_local_pos_sp.vy = _vel_sp(1);
+			_local_pos_sp.vz = _vel_sp(2);
+
+			/* publish local position setpoint */
+			if (_local_pos_sp_pub > 0) {
+				orb_publish(ORB_ID(vehicle_local_position_setpoint), _local_pos_sp_pub, &_local_pos_sp);
+			} else {
+				_local_pos_sp_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &_local_pos_sp);
+			}
+
 		} else {
 			/* position controller disabled, reset setpoints */
 			_reset_alt_sp = true;

src/modules/sdlog2/sdlog2.c

@@ -1536,6 +1536,12 @@ int sdlog2_thread_main(int argc, char *argv[])
 			log_msg.body.log_LPSP.y = buf.local_pos_sp.y;
 			log_msg.body.log_LPSP.z = buf.local_pos_sp.z;
 			log_msg.body.log_LPSP.yaw = buf.local_pos_sp.yaw;
+			log_msg.body.log_LPSP.vx = buf.local_pos_sp.vx;
+			log_msg.body.log_LPSP.vy = buf.local_pos_sp.vy;
+			log_msg.body.log_LPSP.vz = buf.local_pos_sp.vz;
+			log_msg.body.log_LPSP.acc_x = buf.local_pos_sp.acc_x;
+			log_msg.body.log_LPSP.acc_y = buf.local_pos_sp.acc_y;
+			log_msg.body.log_LPSP.acc_z = buf.local_pos_sp.acc_z;
 			LOGBUFFER_WRITE_AND_COUNT(LPSP);
 		}
 

src/modules/sdlog2/sdlog2_messages.h

@@ -128,6 +128,12 @@ struct log_LPSP_s {
 	float y;
 	float z;
 	float yaw;
+	float vx;
+	float vy;
+	float vz;
+	float acc_x;
+	float acc_y;
+	float acc_z;
 };
 
 /* --- GPS - GPS POSITION --- */
@@ -471,7 +477,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT_S(SENS, SENS, "fffff",		"BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"),
 	LOG_FORMAT_S(AIR1, SENS, "fffff",	"BaroPa,BaroAlt,BaroTmp,DiffPres,DiffPresF"),
 	LOG_FORMAT(LPOS, "ffffffffLLfBBff",	"X,Y,Z,Dist,DistR,VX,VY,VZ,RLat,RLon,RAlt,PFlg,GFlg,EPH,EPV"),
-	LOG_FORMAT(LPSP, "ffff",		"X,Y,Z,Yaw"),
+	LOG_FORMAT(LPSP, "ffffffffff",		"X,Y,Z,Yaw,VX,VY,VZ,AX,AY,AZ"),
 	LOG_FORMAT(GPS, "QBffLLfffffBHHH",	"GPSTime,Fix,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog,nSat,SNR,N,J"),
 	LOG_FORMAT_S(ATTC, ATTC, "ffff",		"Roll,Pitch,Yaw,Thrust"),
 	LOG_FORMAT_S(ATC1, ATTC, "ffff",		"Roll,Pitch,Yaw,Thrust"),