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AP_TECS: fix broken logging bitmask enable #21302

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Aug 8, 2022
Merged

AP_TECS: fix broken logging bitmask enable #21302

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12f3823
Plane: add TECS Logbitmask to TECS constructor
hendjoshsr71 Jul 28, 2022
8091688
AP_TECS: use TECS log bitmask in constructor
hendjoshsr71 Jul 28, 2022
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2 changes: 1 addition & 1 deletion ArduPlane/Plane.h
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Original file line number Diff line number Diff line change
Expand Up @@ -196,7 +196,7 @@ class Plane : public AP_Vehicle {

AP_RPM rpm_sensor;

AP_TECS TECS_controller{ahrs, aparm, landing};
AP_TECS TECS_controller{ahrs, aparm, landing, MASK_LOG_TECS};
AP_L1_Control L1_controller{ahrs, &TECS_controller};

// Attitude to servo controllers
Expand Down
138 changes: 70 additions & 68 deletions libraries/AP_TECS/AP_TECS.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1147,72 +1147,74 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
// Calculate pitch demand
_update_pitch();

// log to AP_Logger
// @LoggerMessage: TECS
// @Vehicles: Plane
// @Description: Information about the Total Energy Control System
// @URL: http://ardupilot.org/plane/docs/tecs-total-energy-control-system-for-speed-height-tuning-guide.html
// @Field: TimeUS: Time since system startup
// @Field: h: height estimate (UP) currently in use by TECS
// @Field: dh: current climb rate ("delta-height")
// @Field: hdem: height TECS is currently trying to achieve
// @Field: dhdem: climb rate TECS is currently trying to achieve
// @Field: spdem: True AirSpeed TECS is currently trying to achieve
// @Field: sp: current estimated True AirSpeed
// @Field: dsp: x-axis acceleration estimate ("delta-speed")
// @Field: ith: throttle integrator value
// @Field: iph: Specific Energy Balance integrator value
// @Field: th: throttle output
// @Field: ph: pitch output
// @Field: dspdem: demanded acceleration output ("delta-speed demand")
// @Field: w: current TECS prioritization of height vs speed (0==100% height,2==100% speed, 1==50%height+50%speed
// @Field: f: flags
// @FieldBits: f: Underspeed,UnachievableDescent,AutoLanding,ReachedTakeoffSpd
AP::logger().WriteStreaming(
"TECS",
"TimeUS,h,dh,hdem,dhdem,spdem,sp,dsp,ith,iph,th,ph,dspdem,w,f",
"smnmnnnn----o--",
"F0000000----0--",
"QfffffffffffffB",
now,
(double)_height,
(double)_climb_rate,
(double)_hgt_dem_adj,
(double)_hgt_rate_dem,
(double)_TAS_dem_adj,
(double)_TAS_state,
(double)_vel_dot,
(double)_integTHR_state,
(double)_integSEB_state,
(double)_throttle_dem,
(double)_pitch_dem,
(double)_TAS_rate_dem,
(double)logging.SKE_weighting,
_flags_byte);
// @LoggerMessage: TEC2
// @Vehicles: Plane
// @Description: Additional Information about the Total Energy Control System
// @URL: http://ardupilot.org/plane/docs/tecs-total-energy-control-system-for-speed-height-tuning-guide.html
// @Field: TimeUS: Time since system startup
// @Field: pmax: maximum allowed pitch from parameter
// @Field: pmin: minimum allowed pitch from parameter
// @Field: KErr: difference between estimated kinetic energy and desired kinetic energy
// @Field: PErr: difference between estimated potential energy and desired potential energy
// @Field: EDelta: current error in speed/balance weighting
// @Field: LF: aerodynamic load factor
// @Field: hdem1: demanded height input
// @Field: hdem2: rate-limited height demand
AP::logger().WriteStreaming("TEC2", "TimeUS,pmax,pmin,KErr,PErr,EDelta,LF,hdem1,hdem2",
"s------mm",
"F--------",
"Qffffffff",
now,
(double)degrees(_PITCHmaxf),
(double)degrees(_PITCHminf),
(double)logging.SKE_error,
(double)logging.SPE_error,
(double)logging.SEB_delta,
(double)load_factor,
(double)hgt_dem_cm*0.01,
(double)_hgt_dem);
if (AP::logger().should_log(_log_bitmask)){
// log to AP_Logger
// @LoggerMessage: TECS
// @Vehicles: Plane
// @Description: Information about the Total Energy Control System
// @URL: http://ardupilot.org/plane/docs/tecs-total-energy-control-system-for-speed-height-tuning-guide.html
// @Field: TimeUS: Time since system startup
// @Field: h: height estimate (UP) currently in use by TECS
// @Field: dh: current climb rate ("delta-height")
// @Field: hdem: height TECS is currently trying to achieve
// @Field: dhdem: climb rate TECS is currently trying to achieve
// @Field: spdem: True AirSpeed TECS is currently trying to achieve
// @Field: sp: current estimated True AirSpeed
// @Field: dsp: x-axis acceleration estimate ("delta-speed")
// @Field: ith: throttle integrator value
// @Field: iph: Specific Energy Balance integrator value
// @Field: th: throttle output
// @Field: ph: pitch output
// @Field: dspdem: demanded acceleration output ("delta-speed demand")
// @Field: w: current TECS prioritization of height vs speed (0==100% height,2==100% speed, 1==50%height+50%speed
// @Field: f: flags
// @FieldBits: f: Underspeed,UnachievableDescent,AutoLanding,ReachedTakeoffSpd
AP::logger().WriteStreaming(
"TECS",
"TimeUS,h,dh,hdem,dhdem,spdem,sp,dsp,ith,iph,th,ph,dspdem,w,f",
"smnmnnnn----o--",
"F0000000----0--",
"QfffffffffffffB",
now,
(double)_height,
(double)_climb_rate,
(double)_hgt_dem_adj,
(double)_hgt_rate_dem,
(double)_TAS_dem_adj,
(double)_TAS_state,
(double)_vel_dot,
(double)_integTHR_state,
(double)_integSEB_state,
(double)_throttle_dem,
(double)_pitch_dem,
(double)_TAS_rate_dem,
(double)logging.SKE_weighting,
_flags_byte);
// @LoggerMessage: TEC2
// @Vehicles: Plane
// @Description: Additional Information about the Total Energy Control System
// @URL: http://ardupilot.org/plane/docs/tecs-total-energy-control-system-for-speed-height-tuning-guide.html
// @Field: TimeUS: Time since system startup
// @Field: pmax: maximum allowed pitch from parameter
// @Field: pmin: minimum allowed pitch from parameter
// @Field: KErr: difference between estimated kinetic energy and desired kinetic energy
// @Field: PErr: difference between estimated potential energy and desired potential energy
// @Field: EDelta: current error in speed/balance weighting
// @Field: LF: aerodynamic load factor
// @Field: hdem1: demanded height input
// @Field: hdem2: rate-limited height demand
AP::logger().WriteStreaming("TEC2", "TimeUS,pmax,pmin,KErr,PErr,EDelta,LF,hdem1,hdem2",
"s------mm",
"F--------",
"Qffffffff",
now,
(double)degrees(_PITCHmaxf),
(double)degrees(_PITCHminf),
(double)logging.SKE_error,
(double)logging.SPE_error,
(double)logging.SEB_delta,
(double)load_factor,
(double)hgt_dem_cm*0.01,
(double)_hgt_dem);
}
}
8 changes: 6 additions & 2 deletions libraries/AP_TECS/AP_TECS.h
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Original file line number Diff line number Diff line change
Expand Up @@ -26,10 +26,11 @@
class AP_Landing;
class AP_TECS {
public:
AP_TECS(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, const AP_Landing &landing)
AP_TECS(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, const AP_Landing &landing, const uint32_t log_bitmask)
: _ahrs(ahrs)
, aparm(parms)
, _landing(landing)
, _log_bitmask(log_bitmask)
{
AP_Param::setup_object_defaults(this, var_info);
}
Expand Down Expand Up @@ -161,7 +162,10 @@ class AP_TECS {

// reference to const AP_Landing to access it's params
const AP_Landing &_landing;


// Logging bitmask
const uint32_t _log_bitmask;

// TECS tuning parameters
AP_Float _hgtCompFiltOmega;
AP_Float _spdCompFiltOmega;
Expand Down