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Merge branch 'beta' into beta_merge4

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This commit is contained in:
Lorenz Meier
2015-08-22 14:09:20 +02:00
parent 21d1b4ba2e 6cdceb1829
commit 85007d8952
7 changed files with 105 additions and 72 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+16 -13
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@@ -1920,22 +1920,25 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
break;
}
t.altitudeSp = s.hgt_dem;
t.altitude_filtered = s.hgt;
t.airspeedSp = s.spd_dem;
t.airspeed_filtered = s.spd;
t.altitudeSp = s.altitude_sp;
t.altitude_filtered = s.altitude_filtered;
t.airspeedSp = s.airspeed_sp;
t.airspeed_filtered = s.airspeed_filtered;
t.flightPathAngleSp = s.dhgt_dem;
t.flightPathAngle = s.dhgt;
t.flightPathAngleFiltered = s.dhgt;
t.flightPathAngleSp = s.altitude_rate_sp;
t.flightPathAngle = s.altitude_rate;
t.flightPathAngleFiltered = s.altitude_rate;
t.airspeedDerivativeSp = s.dspd_dem;
t.airspeedDerivative = s.dspd;
t.airspeedDerivativeSp = s.airspeed_rate_sp;
t.airspeedDerivative = s.airspeed_rate;
t.totalEnergyRateSp = s.thr;
t.totalEnergyRate = s.ithr;
t.energyDistributionRateSp = s.ptch;
t.energyDistributionRate = s.iptch;
t.totalEnergyError = s.total_energy_error;
t.totalEnergyRateError = s.total_energy_rate_error;
t.energyDistributionError = s.energy_distribution_error;
t.energyDistributionRateError = s.energy_distribution_rate_error;
t.throttle_sp = s.throttle_sp;
t.pitch_sp = s.pitch_sp;
if (_tecs_status_pub != nullptr) {
orb_publish(ORB_ID(tecs_status), _tecs_status_pub, &t);
src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
+11 -11
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@@ -226,17 +226,17 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight
* is running) */
limitOverride.applyOverride(*outputLimiterThrottle, *outputLimiterPitch);
/* Write part of the status message */
_status.flightPathAngleSp = flightPathAngleSp;
_status.flightPathAngle = flightPathAngle;
_status.flightPathAngleFiltered = flightPathAngleFiltered;
_status.airspeedDerivativeSp = airspeedDerivativeSp;
_status.airspeedDerivative = airspeedDerivative;
_status.totalEnergyRateSp = totalEnergyRateSp;
_status.totalEnergyRate = totalEnergyRate;
_status.energyDistributionRateSp = energyDistributionRateSp;
_status.energyDistributionRate = energyDistributionRate;
_status.mode = mode;
// /* Write part of the status message */
// _status.flightPathAngleSp = flightPathAngleSp;
// _status.flightPathAngle = flightPathAngle;
// _status.flightPathAngleFiltered = flightPathAngleFiltered;
// _status.airspeedDerivativeSp = airspeedDerivativeSp;
// _status.airspeedDerivative = airspeedDerivative;
// _status.totalEnergyRateSp = totalEnergyRateSp;
// _status.totalEnergyRate = totalEnergyRate;
// _status.energyDistributionRateSp = energyDistributionRateSp;
// _status.energyDistributionRate = energyDistributionRate;
// _status.mode = mode;
/** update control blocks **/
/* update total energy rate control block */
src/modules/sdlog2/sdlog2.c
+6 -5
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@@ -1900,15 +1900,16 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_TECS.altitudeFiltered = buf.tecs_status.altitude_filtered;
log_msg.body.log_TECS.flightPathAngleSp = buf.tecs_status.flightPathAngleSp;
log_msg.body.log_TECS.flightPathAngle = buf.tecs_status.flightPathAngle;
log_msg.body.log_TECS.flightPathAngleFiltered = buf.tecs_status.flightPathAngleFiltered;
log_msg.body.log_TECS.airspeedSp = buf.tecs_status.airspeedSp;
log_msg.body.log_TECS.airspeedFiltered = buf.tecs_status.airspeed_filtered;
log_msg.body.log_TECS.airspeedDerivativeSp = buf.tecs_status.airspeedDerivativeSp;
log_msg.body.log_TECS.airspeedDerivative = buf.tecs_status.airspeedDerivative;
log_msg.body.log_TECS.totalEnergyRateSp = buf.tecs_status.totalEnergyRateSp;
log_msg.body.log_TECS.totalEnergyRate = buf.tecs_status.totalEnergyRate;
log_msg.body.log_TECS.energyDistributionRateSp = buf.tecs_status.energyDistributionRateSp;
log_msg.body.log_TECS.energyDistributionRate = buf.tecs_status.energyDistributionRate;
log_msg.body.log_TECS.totalEnergyError = buf.tecs_status.totalEnergyError;
log_msg.body.log_TECS.energyDistributionError = buf.tecs_status.energyDistributionError;
log_msg.body.log_TECS.totalEnergyRateError = buf.tecs_status.totalEnergyRateError;
log_msg.body.log_TECS.energyDistributionRateError = buf.tecs_status.energyDistributionRateError;
log_msg.body.log_TECS.throttle_sp = buf.tecs_status.throttle_sp;
log_msg.body.log_TECS.pitch_sp = buf.tecs_status.pitch_sp;
log_msg.body.log_TECS.mode = (uint8_t)buf.tecs_status.mode;
LOGBUFFER_WRITE_AND_COUNT(TECS);
}
src/modules/sdlog2/sdlog2_messages.h
+7 -7
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@@ -363,16 +363,16 @@ struct log_TECS_s {
float altitudeFiltered;
float flightPathAngleSp;
float flightPathAngle;
float flightPathAngleFiltered;
float airspeedSp;
float airspeedFiltered;
float airspeedDerivativeSp;
float airspeedDerivative;
float totalEnergyRateSp;
float totalEnergyRate;
float energyDistributionRateSp;
float energyDistributionRate;
float totalEnergyError;
float totalEnergyRateError;
float energyDistributionError;
float energyDistributionRateError;
float throttle_sp;
float pitch_sp;
uint8_t mode;
};
@@ -545,7 +545,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(GS0B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(TECS, "fffffffffffffB", "ASP,AF,FSP,F,FF,AsSP,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"),
LOG_FORMAT(TECS, "ffffffffffffffB", "ASP,AF,FSP,F,AsSP,AsF,AsDSP,AsD,EE,EDE,ERE,EDRE,Thr,Ptch,M"),
LOG_FORMAT(WIND, "ffff", "X,Y,CovX,CovY"),
LOG_FORMAT(ENCD, "qfqf", "cnt0,vel0,cnt1,vel1"),
LOG_FORMAT(TSYN, "Q", "TimeOffset"),