From 7511781a7ec13540b4f7e26148e60b53e53a659a Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Sat, 24 Jun 2017 17:29:23 +0930 Subject: [PATCH] Copter: add accel target to NTUN log msg Also rename NTUN column headers from D (meaning Desired) to T (meaning Target) --- ArduCopter/Log.cpp | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/ArduCopter/Log.cpp b/ArduCopter/Log.cpp index e5eccc9842..23e5d386b6 100644 --- a/ArduCopter/Log.cpp +++ b/ArduCopter/Log.cpp @@ -105,6 +105,8 @@ struct PACKED log_Nav_Tuning { float vel_y; float desired_accel_x; float desired_accel_y; + float accel_x; + float accel_y; }; // Write an Nav Tuning packet @@ -115,6 +117,8 @@ void Copter::Log_Write_Nav_Tuning() const Vector3f &accel_target = pos_control->get_accel_target(); const Vector3f &position = inertial_nav.get_position(); const Vector3f &velocity = inertial_nav.get_velocity(); + float accel_x, accel_y; + pos_control->lean_angles_to_accel(accel_x, accel_y); struct log_Nav_Tuning pkt = { LOG_PACKET_HEADER_INIT(LOG_NAV_TUNING_MSG), @@ -128,7 +132,9 @@ void Copter::Log_Write_Nav_Tuning() vel_x : velocity.x, vel_y : velocity.y, desired_accel_x : accel_target.x, - desired_accel_y : accel_target.y + desired_accel_y : accel_target.y, + accel_x : accel_x, + accel_y : accel_y }; DataFlash.WriteBlock(&pkt, sizeof(pkt)); } @@ -590,7 +596,7 @@ const struct LogStructure Copter::log_structure[] = { { LOG_OPTFLOW_MSG, sizeof(log_Optflow), "OF", "QBffff", "TimeUS,Qual,flowX,flowY,bodyX,bodyY", "s-EEEE", "F-0000" }, { LOG_NAV_TUNING_MSG, sizeof(log_Nav_Tuning), - "NTUN", "Qffffffffff", "TimeUS,DPosX,DPosY,PosX,PosY,DVelX,DVelY,VelX,VelY,DAccX,DAccY", "smmmmnnnnoo", "FBBBBBBBBBB" }, + "NTUN", "Qffffffffffff", "TimeUS,TPX,TPY,PX,PY,TVX,TVY,VX,VY,TAX,TAY,AX,AY", "smmmmnnnnoooo", "FBBBBBBBBBBBB" }, { LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning), "CTUN", "Qffffffeccfhh", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DSAlt,SAlt,TAlt,DCRt,CRt", "s----mmmmmmnn", "F----00BBBBBB" }, { LOG_MOTBATT_MSG, sizeof(log_MotBatt),