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Reinstate TECS logging

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Lorenz Meier
2014-08-03 13:18:22 +02:00
parent 020ac409be
commit 43ef622725
2 changed files with 56 additions and 31 deletions
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src/lib/external_lgpl/tecs/tecs.cpp
+26 -14
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@@ -554,18 +554,30 @@ void TECS::update_pitch_throttle(const math::Matrix<3,3> &rotMat, float pitch, f
// Calculate pitch demand
_update_pitch();
// // Write internal variables to the log_tuning structure. This
// // structure will be logged in dataflash at 10Hz
// log_tuning.hgt_dem = _hgt_dem_adj;
// log_tuning.hgt = _integ3_state;
// log_tuning.dhgt_dem = _hgt_rate_dem;
// log_tuning.dhgt = _integ2_state;
// log_tuning.spd_dem = _TAS_dem_adj;
// log_tuning.spd = _integ5_state;
// log_tuning.dspd = _vel_dot;
// log_tuning.ithr = _integ6_state;
// log_tuning.iptch = _integ7_state;
// log_tuning.thr = _throttle_dem;
// log_tuning.ptch = _pitch_dem;
// log_tuning.dspd_dem = _TAS_rate_dem;
_tecs_state.timestamp = now;
if (_underspeed) {
_tecs_state.mode = ECL_TECS_MODE_UNDERSPEED;
} else if (_badDescent) {
_tecs_state.mode = ECL_TECS_MODE_BAD_DESCENT;
} else if (_climbOutDem) {
_tecs_state.mode = ECL_TECS_MODE_CLIMBOUT;
} else {
// If no error flag applies, conclude normal
_tecs_state.mode = ECL_TECS_MODE_NORMAL;
}
_tecs_state.hgt_dem = _hgt_dem_adj;
_tecs_state.hgt = _integ3_state;
_tecs_state.dhgt_dem = _hgt_rate_dem;
_tecs_state.dhgt = _integ2_state;
_tecs_state.spd_dem = _TAS_dem_adj;
_tecs_state.spd = _integ5_state;
_tecs_state.dspd = _vel_dot;
_tecs_state.ithr = _integ6_state;
_tecs_state.iptch = _integ7_state;
_tecs_state.thr = _throttle_dem;
_tecs_state.ptch = _pitch_dem;
_tecs_state.dspd_dem = _TAS_rate_dem;
}