Plane: added option to log PIDs at full rate

useful for tuning quadplanes

ArduPlane/ArduPlane.cpp

@@ -83,7 +83,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
 #endif // CAMERA == ENABLED
     SCHED_TASK_CLASS(AP_Scheduler, &plane.scheduler, update_logging,         0.2,    100),
     SCHED_TASK(compass_save,          0.1,    200),
-    SCHED_TASK(Log_Write_Fast,         25,    300),
+    SCHED_TASK(Log_Write_Fast,        400,    300),
     SCHED_TASK(update_logging1,        25,    300),
     SCHED_TASK(update_logging2,        25,    300),
 #if HAL_SOARING_ENABLED

ArduPlane/Log.cpp

@@ -48,7 +48,15 @@ void Plane::Log_Write_Attitude(void)
 // do fast logging for plane
 void Plane::Log_Write_Fast(void)
 {
-    if (should_log(MASK_LOG_ATTITUDE_FAST)) {
+    if (!should_log(MASK_LOG_ATTITUDE_FULLRATE)) {
+        uint32_t now = AP_HAL::millis();
+        if (now - last_log_fast_ms < 40) {
+            // default to 25Hz
+            return;
+        }
+        last_log_fast_ms = now;
+    }
+    if (should_log(MASK_LOG_ATTITUDE_FAST | MASK_LOG_ATTITUDE_FULLRATE)) {
         Log_Write_Attitude();
     }
 }

ArduPlane/Parameters.cpp

@@ -637,7 +637,7 @@ const AP_Param::Info Plane::var_info[] = {
     // @Param: LOG_BITMASK
     // @DisplayName: Log bitmask
     // @Description: Bitmap of what on-board log types to enable. This value is made up of the sum of each of the log types you want to be saved. It is usually best just to enable all log types by setting this to 65535. The individual bits are ATTITUDE_FAST=1, ATTITUDE_MEDIUM=2, GPS=4, PerformanceMonitoring=8, ControlTuning=16, NavigationTuning=32, Mode=64, IMU=128, Commands=256, Battery=512, Compass=1024, TECS=2048, Camera=4096, RCandServo=8192, Sonar=16384, Arming=32768, FullLogs=65535
-    // @Bitmask: 0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:MODE,7:IMU,8:CMD,9:CURRENT,10:COMPASS,11:TECS,12:CAMERA,13:RC,14:SONAR,15:ARM/DISARM,19:IMU_RAW
+    // @Bitmask: 0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:MODE,7:IMU,8:CMD,9:CURRENT,10:COMPASS,11:TECS,12:CAMERA,13:RC,14:SONAR,15:ARM/DISARM,19:IMU_RAW,20:ATTITUDE_FULLRATE
     // @User: Advanced
     GSCALAR(log_bitmask,            "LOG_BITMASK",    DEFAULT_LOG_BITMASK),
 

ArduPlane/Plane.h

@@ -855,6 +855,8 @@ private:
     void calc_nav_yaw_ground(void);
 
     // Log.cpp
+    uint32_t last_log_fast_ms;
+
     void Log_Write_Fast(void);
     void Log_Write_Attitude(void);
     void Log_Write_Startup(uint8_t type);

ArduPlane/defines.h

@@ -116,6 +116,7 @@ enum log_messages {
 #define MASK_LOG_SONAR                  (1<<14)
 // #define MASK_LOG_ARM_DISARM             (1<<15)
 #define MASK_LOG_IMU_RAW                (1UL<<19)
+#define MASK_LOG_ATTITUDE_FULLRATE      (1U<<20)
 
 // altitude control algorithms
 enum {