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log raw airspeed derivative, pitch setpoint and airspeed innovation for TECS

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
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RomanBapst
2021-05-31 23:56:23 +02:00
committed by Silvan Fuhrer
parent 806b462935
commit b06b46b224
4 changed files with 12 additions and 3 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+3
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@@ -398,6 +398,8 @@ FixedwingPositionControl::tecs_status_publish()
t.equivalent_airspeed_sp = _tecs.get_EAS_setpoint();
t.true_airspeed_derivative_sp = _tecs.TAS_rate_setpoint();
t.true_airspeed_derivative = _tecs.speed_derivative();
t.true_airspeed_derivative_raw = _tecs.speed_derivative_raw();
t.true_airspeed_innovation = _tecs.getTASInnovation();
t.total_energy_error = _tecs.STE_error();
t.total_energy_rate_error = _tecs.STE_rate_error();
@@ -419,6 +421,7 @@ FixedwingPositionControl::tecs_status_publish()
t.pitch_integ = _tecs.pitch_integ_state();
t.throttle_sp = _tecs.get_throttle_setpoint();
t.pitch_sp_rad = _tecs.get_pitch_setpoint();
t.timestamp = hrt_absolute_time();