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Copter: remove PID logging 

Almost never used and eats up limited log description space
master
Randy Mackay 11 years ago
parent
5e0ddd299f
commit
df9d1614e2
5 changed files with 3 additions and 132 deletions
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  1. 2
      ArduCopter/ArduCopter.pde
  2. 85
      ArduCopter/Attitude.pde
  3. 31
      ArduCopter/Log.pde
  4. 4
      ArduCopter/defines.h
  5. 13
      ArduCopter/heli.pde

2
ArduCopter/ArduCopter.pde
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@ -482,8 +482,6 @@ static MOTOR_CLASS motors(&g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4); @@ -482,8 +482,6 @@ static MOTOR_CLASS motors(&g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4);
static Vector3f omega;
// This is used to hold radio tuning values for in-flight CH6 tuning
float tuning_value;
// used to limit the rate that the pid controller output is logged so that it doesn't negatively affect performance
static uint8_t pid_log_counter;
////////////////////////////////////////////////////////////////////////////////

85
ArduCopter/Attitude.pde
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@ -70,7 +70,6 @@ get_stabilize_yaw(int32_t target_angle) @@ -70,7 +70,6 @@ get_stabilize_yaw(int32_t target_angle)
{
int32_t target_rate;
int32_t angle_error;
int32_t output = 0;
// angle error
angle_error = wrap_180_cd(target_angle - ahrs.yaw_sensor);
@ -88,17 +87,6 @@ get_stabilize_yaw(int32_t target_angle) @@ -88,17 +87,6 @@ get_stabilize_yaw(int32_t target_angle)
}
#endif
#if LOGGING_ENABLED == ENABLED
// log output if PID logging is on and we are tuning the yaw
if( g.log_bitmask & MASK_LOG_PID && g.radio_tuning == CH6_STABILIZE_YAW_KP ) {
pid_log_counter++;
if( pid_log_counter >= 10 ) { // (update rate / desired output rate) = (100hz / 10hz) = 10
pid_log_counter = 0;
Log_Write_PID(CH6_STABILIZE_YAW_KP, angle_error, target_rate, 0, 0, output, tuning_value);
}
}
#endif
// set targets for rate controller
set_yaw_rate_target(target_rate, EARTH_FRAME);
}
@ -513,17 +501,6 @@ get_rate_roll(int32_t target_rate) @@ -513,17 +501,6 @@ get_rate_roll(int32_t target_rate)
// constrain output
output = constrain_int32(output, -5000, 5000);
#if LOGGING_ENABLED == ENABLED
// log output if PID logging is on and we are tuning the rate P, I or D gains
if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_RATE_ROLL_PITCH_KP || g.radio_tuning == CH6_RATE_ROLL_PITCH_KI || g.radio_tuning == CH6_RATE_ROLL_PITCH_KD) ) {
pid_log_counter++; // Note: get_rate_pitch pid logging relies on this function to update pid_log_counter so if you change the line above you must change the equivalent line in get_rate_pitch
if( pid_log_counter >= 10 ) { // (update rate / desired output rate) = (100hz / 10hz) = 10
pid_log_counter = 0;
Log_Write_PID(CH6_RATE_ROLL_PITCH_KP, rate_error, p, i, d, output, tuning_value);
}
}
#endif
// output control
return output;
}
@ -557,15 +534,6 @@ get_rate_pitch(int32_t target_rate) @@ -557,15 +534,6 @@ get_rate_pitch(int32_t target_rate)
// constrain output
output = constrain_int32(output, -5000, 5000);
#if LOGGING_ENABLED == ENABLED
// log output if PID logging is on and we are tuning the rate P, I or D gains
if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_RATE_ROLL_PITCH_KP || g.radio_tuning == CH6_RATE_ROLL_PITCH_KI || g.radio_tuning == CH6_RATE_ROLL_PITCH_KD) ) {
if( pid_log_counter == 0 ) { // relies on get_rate_roll having updated pid_log_counter
Log_Write_PID(CH6_RATE_ROLL_PITCH_KP+100, rate_error, p, i, d, output, tuning_value);
}
}
#endif
// output control
return output;
}
@ -597,17 +565,6 @@ get_rate_yaw(int32_t target_rate) @@ -597,17 +565,6 @@ get_rate_yaw(int32_t target_rate)
output = p+i+d;
output = constrain_int32(output, -4500, 4500);
#if LOGGING_ENABLED == ENABLED
// log output if PID loggins is on and we are tuning the yaw
if( g.log_bitmask & MASK_LOG_PID && g.radio_tuning == CH6_YAW_RATE_KP ) {
pid_log_counter++;
if( pid_log_counter >= 10 ) { // (update rate / desired output rate) = (100hz / 10hz) = 10
pid_log_counter = 0;
Log_Write_PID(CH6_YAW_RATE_KP, rate_error, p, i, d, output, tuning_value);
}
}
#endif
// constrain output
return output;
}
@ -645,17 +602,6 @@ get_of_roll(int32_t input_roll) @@ -645,17 +602,6 @@ get_of_roll(int32_t input_roll)
}
// limit amount of change and maximum angle
of_roll = constrain_int32(new_roll, (of_roll-20), (of_roll+20));
#if LOGGING_ENABLED == ENABLED
// log output if PID logging is on and we are tuning the rate P, I or D gains
if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_OPTFLOW_KP || g.radio_tuning == CH6_OPTFLOW_KI || g.radio_tuning == CH6_OPTFLOW_KD) ) {
pid_log_counter++; // Note: get_of_pitch pid logging relies on this function updating pid_log_counter so if you change the line above you must change the equivalent line in get_of_pitch
if( pid_log_counter >= 5 ) { // (update rate / desired output rate) = (100hz / 10hz) = 10
pid_log_counter = 0;
Log_Write_PID(CH6_OPTFLOW_KP, tot_x_cm, p, i, d, of_roll, tuning_value);
}
}
#endif // LOGGING_ENABLED == ENABLED
}
// limit max angle
@ -699,15 +645,6 @@ get_of_pitch(int32_t input_pitch) @@ -699,15 +645,6 @@ get_of_pitch(int32_t input_pitch)
// limit amount of change
of_pitch = constrain_int32(new_pitch, (of_pitch-20), (of_pitch+20));
#if LOGGING_ENABLED == ENABLED
// log output if PID logging is on and we are tuning the rate P, I or D gains
if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_OPTFLOW_KP || g.radio_tuning == CH6_OPTFLOW_KI || g.radio_tuning == CH6_OPTFLOW_KD) ) {
if( pid_log_counter == 0 ) { // relies on get_of_roll having updated the pid_log_counter
Log_Write_PID(CH6_OPTFLOW_KP+100, tot_y_cm, p, i, d, of_pitch, tuning_value);
}
}
#endif // LOGGING_ENABLED == ENABLED
}
// limit max angle
@ -919,17 +856,6 @@ get_throttle_accel(int16_t z_target_accel) @@ -919,17 +856,6 @@ get_throttle_accel(int16_t z_target_accel)
output = constrain_float(p+i+d+g.throttle_cruise, g.throttle_min, g.throttle_max);
#if LOGGING_ENABLED == ENABLED
// log output if PID loggins is on and we are tuning the yaw
if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_THROTTLE_ACCEL_KP || g.radio_tuning == CH6_THROTTLE_ACCEL_KI || g.radio_tuning == CH6_THROTTLE_ACCEL_KD) ) {
pid_log_counter++;
if( pid_log_counter >= 10 ) { // (update rate / desired output rate) = (50hz / 10hz) = 5hz
pid_log_counter = 0;
Log_Write_PID(CH6_THROTTLE_ACCEL_KP, z_accel_error, p, i, d, output, tuning_value);
}
}
#endif
return output;
}
@ -1059,17 +985,6 @@ get_throttle_rate(float z_target_speed) @@ -1059,17 +985,6 @@ get_throttle_rate(float z_target_speed)
output += p;
output = constrain_int32(output, -32000, 32000);
#if LOGGING_ENABLED == ENABLED
// log output if PID loggins is on and we are tuning the yaw
if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_THROTTLE_RATE_KP || g.radio_tuning == CH6_THROTTLE_RATE_KD) ) {
pid_log_counter++;
if( pid_log_counter >= 10 ) { // (update rate / desired output rate) = (50hz / 10hz) = 5hz
pid_log_counter = 0;
Log_Write_PID(CH6_THROTTLE_RATE_KP, z_rate_error, p, 0, 0, output, tuning_value);
}
}
#endif
// set target for accel based throttle controller
set_throttle_accel_target(output);

31
ArduCopter/Log.pde
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@ -46,7 +46,6 @@ print_log_menu(void) @@ -46,7 +46,6 @@ print_log_menu(void)
if (g.log_bitmask & MASK_LOG_CURRENT) cliSerial->printf_P(PSTR(" CURRENT"));
if (g.log_bitmask & MASK_LOG_RCOUT) cliSerial->printf_P(PSTR(" RCOUT"));
if (g.log_bitmask & MASK_LOG_OPTFLOW) cliSerial->printf_P(PSTR(" OPTFLOW"));
if (g.log_bitmask & MASK_LOG_PID) cliSerial->printf_P(PSTR(" PID"));
if (g.log_bitmask & MASK_LOG_COMPASS) cliSerial->printf_P(PSTR(" COMPASS"));
if (g.log_bitmask & MASK_LOG_INAV) cliSerial->printf_P(PSTR(" INAV"));
if (g.log_bitmask & MASK_LOG_CAMERA) cliSerial->printf_P(PSTR(" CAMERA"));
@ -647,33 +646,6 @@ static void Log_Write_Data(uint8_t id, float value) @@ -647,33 +646,6 @@ static void Log_Write_Data(uint8_t id, float value)
}
}
struct PACKED log_PID {
LOG_PACKET_HEADER;
uint8_t id;
int32_t error;
int32_t p;
int32_t i;
int32_t d;
int32_t output;
float gain;
};
// Write an PID packet
static void Log_Write_PID(uint8_t pid_id, int32_t error, int32_t p, int32_t i, int32_t d, int32_t output, float gain)
{
struct log_PID pkt = {
LOG_PACKET_HEADER_INIT(LOG_PID_MSG),
id : pid_id,
error : error,
p : p,
i : i,
d : d,
output : output,
gain : gain
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Camera {
LOG_PACKET_HEADER;
uint32_t gps_time;
@ -766,8 +738,6 @@ static const struct LogStructure log_structure[] PROGMEM = { @@ -766,8 +738,6 @@ static const struct LogStructure log_structure[] PROGMEM = {
"DU32", "BI", "Id,Value" },
{ LOG_DATA_FLOAT_MSG, sizeof(log_Data_Float),
"DFLT", "Bf", "Id,Value" },
{ LOG_PID_MSG, sizeof(log_PID),
"PID", "Biiiiif", "Id,Error,P,I,D,Out,Gain" },
{ LOG_CAMERA_MSG, sizeof(log_Camera),
"CAM", "IHLLeccC", "GPSTime,GPSWeek,Lat,Lng,Alt,Roll,Pitch,Yaw" },
{ LOG_ERROR_MSG, sizeof(log_Error),
@ -840,7 +810,6 @@ static void Log_Write_Optflow() {} @@ -840,7 +810,6 @@ static void Log_Write_Optflow() {}
static void Log_Write_Nav_Tuning() {}
static void Log_Write_Control_Tuning() {}
static void Log_Write_Performance() {}
static void Log_Write_PID(uint8_t pid_id, int32_t error, int32_t p, int32_t i, int32_t d, int32_t output, float gain) {}
static void Log_Write_Camera() {}
static void Log_Write_Error(uint8_t sub_system, uint8_t error_code) {}
static int8_t process_logs(uint8_t argc, const Menu::arg *argv) {

4
ArduCopter/defines.h
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@ -250,7 +250,7 @@ @@ -250,7 +250,7 @@
#define LOG_STARTUP_MSG 0x0A
#define LOG_OPTFLOW_MSG 0x0C
#define LOG_EVENT_MSG 0x0D
#define LOG_PID_MSG 0x0E
#define LOG_PID_MSG 0x0E // deprecated
#define LOG_COMPASS_MSG 0x0F
#define LOG_INAV_MSG 0x11
#define LOG_CAMERA_MSG 0x12
@ -278,7 +278,7 @@ @@ -278,7 +278,7 @@
#define MASK_LOG_CURRENT (1<<9)
#define MASK_LOG_RCOUT (1<<10)
#define MASK_LOG_OPTFLOW (1<<11)
#define MASK_LOG_PID (1<<12)
#define MASK_LOG_PID (1<<12) // deprecated
#define MASK_LOG_COMPASS (1<<13)
#define MASK_LOG_INAV (1<<14)
#define MASK_LOG_CAMERA (1<<15)

13
ArduCopter/heli.pde
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@ -279,17 +279,6 @@ get_heli_rate_yaw(int32_t target_rate) @@ -279,17 +279,6 @@ get_heli_rate_yaw(int32_t target_rate)
pid_saturated = false; // unfreeze integrator
}
#if LOGGING_ENABLED == ENABLED
// log output if PID loggins is on and we are tuning the yaw
if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_YAW_RATE_KP || g.radio_tuning == CH6_YAW_RATE_KD) ) {
pid_log_counter++;
if( pid_log_counter >= 10 ) { // (update rate / desired output rate) = (100hz / 10hz) = 10
pid_log_counter = 0;
Log_Write_PID(CH6_YAW_RATE_KP, rate_error, p, i, d, output, tuning_value);
}
}
#endif
return output; // output control
}
@ -344,4 +333,4 @@ static void heli_update_rotor_speed_targets() @@ -344,4 +333,4 @@ static void heli_update_rotor_speed_targets()
}
}
#endif // FRAME_CONFIG == HELI_FRAME
#endif // FRAME_CONFIG == HELI_FRAME

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