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TECS: log more TECS states to enable better analysis

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
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RomanBapst
2020-09-22 11:50:51 +03:00
committed by Roman Bapst
parent 8823f5e1ec
commit 447e14906c
4 changed files with 80 additions and 0 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+12
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@@ -357,9 +357,21 @@ FixedwingPositionControl::tecs_status_publish()
t.energy_distribution_error = _tecs.SEB_error();
t.energy_distribution_rate_error = _tecs.SEB_rate_error();
t.total_energy = _tecs.STE();
t.total_energy_rate = _tecs.STE_rate();
t.total_energy_balance = _tecs.SEB();
t.total_energy_balance_rate = _tecs.SEB_rate();
t.total_energy_sp = _tecs.STE_setpoint();
t.total_energy_rate_sp = _tecs.STE_rate_setpoint();
t.total_energy_balance_sp = _tecs.SEB_setpoint();
t.total_energy_balance_rate_sp = _tecs.SEB_rate_setpoint();
t.throttle_integ = _tecs.throttle_integ_state();
t.pitch_integ = _tecs.pitch_integ_state();
t.throttle_sp = _tecs.get_throttle_setpoint();
t.timestamp = hrt_absolute_time();
_tecs_status_pub.publish(t);