Attitude Logging (ANG) #28059
Attitude Logging (ANG) #28059
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andyp1per
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Perhaps a test to make sure Could use |
andyp1per
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Here is a log from a quadplane mission |
| @@ -566,7 +566,9 @@ void Copter::loop_rate_logging() | |||
| // should be run at 10hz | |||
| void Copter::ten_hz_logging_loop() | |||
| { | |||
| // log attitude data if we're not already logging at the higher rate | |||
| // always write AHRS attitude at 10Hz | |||
| ahrs.Write_Attitude(attitude_control->get_att_target_euler_rad() * RAD_TO_DEG); | |||
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I think I would vote to still log ATT at 25hz if medium logging is selected, but it make sense to drop it from 400Hz logging.
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My understanding from the dev call was to log at 10Hz only. I'm not going to open that can of worms again.
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Yes, the consensus was that ATT should be logged at a fixed rate of 10 Hz.
The idea is to move away from the ATT message. Why do you want to log ATT faster?
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The current behaviour is to log ATT at 10 Hz if MASK_LOG_ATTITUDE_MED is on and not logging it at all if MASK_LOG_ATTITUDE_MED is off.
It looks like MASK_LOG_ATTITUDE_FAST is being used to log EKF_POS at 10 Hz.
These are a bit of a mess.
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Note that ATT is not currently logged at 25Hz. Other things are but not ATT, at least not in copter.
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…itude logging Move RATE message to AC_AttitudeControl_Logging.cpp
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Tested on my 5" |
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I guess I wasn't involved in the review of this (probably my fault for not paying attention) but I think it's a bit odd that we now have both ATT and ANG messages with nearly exactly the same information in them. It's hard to imagine what argument would not allow increasing the rate of the ATT message but would allow a duplicate message |
Introduces a new high rate attitude message - ANG - to replace the use of ATT for the attitude controller.