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Merge branch 'pid_fixes' into new_state_machine

Browse Source 
Conflicts:
	src/modules/multirotor_att_control/multirotor_rate_control.c
	src/modules/sdlog2/sdlog2.c
	src/modules/sdlog2/sdlog2_messages.h

and some fixes, logging of control PID values now working
This commit is contained in:
Julian Oes
2013-06-16 17:14:22 +02:00
parent bd7f86bb6a 216617431d
commit bca60b98bd
7 changed files with 42 additions and 52 deletions
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src/modules/sdlog2/sdlog2.c
+8 -14
View File
@@ -91,7 +91,6 @@
#define LOGBUFFER_WRITE_AND_COUNT(_msg) if (logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(_msg))) { \
log_msgs_written++; \
printf("size: %d\n", LOG_PACKET_SIZE(_msg)); \
} else { \
log_msgs_skipped++; \
/*printf("skip\n");*/ \
@@ -616,6 +615,7 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
/* number of messages */
const ssize_t fdsc = 17;
/* Sanity check variable and index */
ssize_t fdsc_count = 0;
/* file descriptors to wait for */
@@ -1072,26 +1072,20 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- CONTROL DEBUG --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_control_debug), subs.control_debug_sub, &buf.control_debug);
printf("copied control debug\n");
// log_msg.body.log_CTRL.roll_p = buf.control_debug.roll_p;
// log_msg.body.log_CTRL.roll_i = buf.control_debug.roll_i;
// log_msg.body.log_CTRL.roll_d = buf.control_debug.roll_d;
log_msg.msg_type = LOG_CTRL_MSG;
log_msg.body.log_CTRL.roll_p = buf.control_debug.roll_p;
log_msg.body.log_CTRL.roll_i = buf.control_debug.roll_i;
log_msg.body.log_CTRL.roll_d = buf.control_debug.roll_d;
log_msg.body.log_CTRL.roll_rate_p = buf.control_debug.roll_rate_p;
log_msg.body.log_CTRL.roll_rate_i = buf.control_debug.roll_rate_i;
log_msg.body.log_CTRL.roll_rate_d = buf.control_debug.roll_rate_d;
// log_msg.body.log_CTRL.pitch_p = buf.control_debug.pitch_p;
// log_msg.body.log_CTRL.pitch_i = buf.control_debug.pitch_i;
// log_msg.body.log_CTRL.pitch_d = buf.control_debug.pitch_d;
log_msg.body.log_CTRL.pitch_p = buf.control_debug.pitch_p;
log_msg.body.log_CTRL.pitch_i = buf.control_debug.pitch_i;
log_msg.body.log_CTRL.pitch_d = buf.control_debug.pitch_d;
log_msg.body.log_CTRL.pitch_rate_p = buf.control_debug.pitch_rate_p;
log_msg.body.log_CTRL.pitch_rate_i = buf.control_debug.pitch_rate_i;
log_msg.body.log_CTRL.pitch_rate_d = buf.control_debug.pitch_rate_d;
// log_msg.body.log_CTRL.yaw_p = buf.control_debug.yaw_p;
// log_msg.body.log_CTRL.yaw_i = buf.control_debug.yaw_i;
// log_msg.body.log_CTRL.yaw_d = buf.control_debug.yaw_d;
log_msg.body.log_CTRL.yaw_rate_p = buf.control_debug.yaw_rate_p;
log_msg.body.log_CTRL.yaw_rate_i = buf.control_debug.yaw_rate_i;
log_msg.body.log_CTRL.yaw_rate_d = buf.control_debug.yaw_rate_d;
LOGBUFFER_WRITE_AND_COUNT(CTRL);
}
src/modules/sdlog2/sdlog2_messages.h
+7 -18
View File
@@ -159,29 +159,18 @@ struct log_STAT_s {
/* --- CTRL - CONTROL DEBUG --- */
#define LOG_CTRL_MSG 11
struct log_CTRL_s {
// float roll_p;
// float roll_i;
// float roll_d;
float roll_p;
float roll_i;
float roll_d;
float roll_rate_p;
float roll_rate_i;
float roll_rate_d;
// float pitch_p;
// float pitch_i;
// float pitch_d;
float pitch_p;
float pitch_i;
float pitch_d;
float pitch_rate_p;
float pitch_rate_i;
float pitch_rate_d;
// float yaw_p;
// float yaw_i;
// float yaw_d;
float yaw_rate_p;
float yaw_rate_i;
float yaw_rate_d;
};
/* --- RC - RC INPUT CHANNELS --- */
@@ -210,7 +199,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"),
LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
LOG_FORMAT(STAT, "BBBBBfffB", "State,FlightMode,CtlMode,SASMode,Armed,BatV,BatC,BatRem,BatWarn"),
LOG_FORMAT(CTRL, "fffffffff", "RollRP,RollRI,RollRD,PitchRP,PitchRI,PitchRD,YawRP,YawRI,YawRD"),
LOG_FORMAT(CTRL, "ffffffffffff", "RP,RI,RD,RRP,RRI,RRD,PP,PI,PD,PRP,PRI,PRD"),
LOG_FORMAT(RC, "ffffffff", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7"),
LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
};