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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-03 13:17:18 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-03 13:17:18 +0200 |
commit | 020ac409be62e6c459e7aa5cb3181941c9bbfd23 (patch) | |
tree | 11e6f2a03b2440edc4003572d58bdc65300a8d82 /src | |
parent | d3d5aa9bdc16b22f6e349190f18f411bd192bc2a (diff) | |
download | px4-firmware-020ac409be62e6c459e7aa5cb3181941c9bbfd23.tar.gz px4-firmware-020ac409be62e6c459e7aa5cb3181941c9bbfd23.tar.bz2 px4-firmware-020ac409be62e6c459e7aa5cb3181941c9bbfd23.zip |
Remove airspeed and altitude raw data from TECS log, as we have these quantities already in the system log
Diffstat (limited to 'src')
-rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs.cpp | 6 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2.c | 6 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 4 | ||||
-rw-r--r-- | src/modules/uORB/topics/tecs_status.h | 12 |
4 files changed, 11 insertions, 17 deletions
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp index 749f57a2b..bffeefc1f 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp @@ -109,8 +109,7 @@ int mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float alti /* Write part of the status message */ _status.altitudeSp = altitudeSp; - _status.altitude = altitude; - _status.altitudeFiltered = altitudeFiltered; + _status.altitude_filtered = altitudeFiltered; /* use flightpath angle setpoint for total energy control */ @@ -146,8 +145,7 @@ int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAng /* Write part of the status message */ _status.airspeedSp = airspeedSp; - _status.airspeed = airspeed; - _status.airspeedFiltered = airspeedFiltered; + _status.airspeed_filtered = airspeedFiltered; /* use longitudinal acceleration setpoint for total energy control */ diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 31861c3fc..6c4b49452 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1597,14 +1597,12 @@ int sdlog2_thread_main(int argc, char *argv[]) if (copy_if_updated(ORB_ID(tecs_status), subs.tecs_status_sub, &buf.tecs_status)) { log_msg.msg_type = LOG_TECS_MSG; log_msg.body.log_TECS.altitudeSp = buf.tecs_status.altitudeSp; - log_msg.body.log_TECS.altitude = buf.tecs_status.altitude; - log_msg.body.log_TECS.altitudeFiltered = buf.tecs_status.altitudeFiltered; + 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.airspeed = buf.tecs_status.airspeed; - log_msg.body.log_TECS.airspeedFiltered = buf.tecs_status.airspeedFiltered; + 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; diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 853a3811f..fb7609435 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -333,13 +333,11 @@ struct log_GS1B_s { #define LOG_TECS_MSG 30 struct log_TECS_s { float altitudeSp; - float altitude; float altitudeFiltered; float flightPathAngleSp; float flightPathAngle; float flightPathAngleFiltered; float airspeedSp; - float airspeed; float airspeedFiltered; float airspeedDerivativeSp; float airspeedDerivative; @@ -455,7 +453,7 @@ 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, "fffffffffffffffB", "ASP,A,AF,FSP,F,FF,AsSP,As,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"), + LOG_FORMAT(TECS, "fffffffffffffB", "ASP,AF,FSP,F,FF,AsSP,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"), LOG_FORMAT(WIND, "ffff", "X,Y,CovX,CovY"), /* system-level messages, ID >= 0x80 */ diff --git a/src/modules/uORB/topics/tecs_status.h b/src/modules/uORB/topics/tecs_status.h index 33055018c..ddca19d61 100644 --- a/src/modules/uORB/topics/tecs_status.h +++ b/src/modules/uORB/topics/tecs_status.h @@ -51,11 +51,13 @@ */ typedef enum { - TECS_MODE_NORMAL, + TECS_MODE_NORMAL = 0, TECS_MODE_UNDERSPEED, TECS_MODE_TAKEOFF, TECS_MODE_LAND, - TECS_MODE_LAND_THROTTLELIM + TECS_MODE_LAND_THROTTLELIM, + TECS_MODE_BAD_DESCENT, + TECS_MODE_CLIMBOUT } tecs_mode; /** @@ -65,14 +67,12 @@ struct tecs_status_s { uint64_t timestamp; /**< timestamp, in microseconds since system start */ float altitudeSp; - float altitude; - float altitudeFiltered; + float altitude_filtered; float flightPathAngleSp; float flightPathAngle; float flightPathAngleFiltered; float airspeedSp; - float airspeed; - float airspeedFiltered; + float airspeed_filtered; float airspeedDerivativeSp; float airspeedDerivative; |