C++ (Cpp) Log_Write_Precland Exemples

Exemple #1

Fichier : ArduCopter.cpp Projet : lthall/Leonard_ardupilot

// twentyfive_hz_logging - should be run at 25hz
void Copter::twentyfive_hz_logging()
{
#if HIL_MODE != HIL_MODE_DISABLED
    // HIL for a copter needs very fast update of the servo values
    gcs_send_message(MSG_RADIO_OUT);
#endif

#if HIL_MODE == HIL_MODE_DISABLED
    if (should_log(MASK_LOG_ATTITUDE_FAST)) {
        Log_Write_Attitude();
        DataFlash.Log_Write_Rate(ahrs, motors, attitude_control, pos_control);
        if (should_log(MASK_LOG_PID)) {
            DataFlash.Log_Write_PID(LOG_PIDR_MSG, attitude_control.get_rate_roll_pid().get_pid_info());
            DataFlash.Log_Write_PID(LOG_PIDP_MSG, attitude_control.get_rate_pitch_pid().get_pid_info());
            DataFlash.Log_Write_PID(LOG_PIDY_MSG, attitude_control.get_rate_yaw_pid().get_pid_info());
            DataFlash.Log_Write_PID(LOG_PIDA_MSG, g.pid_accel_z.get_pid_info() );
        }
    }

    // log IMU data if we're not already logging at the higher rate
    if (should_log(MASK_LOG_IMU) && !should_log(MASK_LOG_IMU_RAW)) {
        DataFlash.Log_Write_IMU(ins);
    }
#endif

#if PRECISION_LANDING == ENABLED
    // log output
    Log_Write_Precland();
#endif
}

Exemple #2

Fichier : precision_landing.cpp Projet : SDRC-AUV/ardusub

void Sub::update_precland()
{
	int32_t height_above_ground_cm = current_loc.alt;

	// use range finder altitude if it is valid, else try to get terrain alt
	if (rangefinder_alt_ok()) {
		height_above_ground_cm = rangefinder_state.alt_cm;
	} else if (terrain_use()) {
		current_loc.get_alt_cm(Location_Class::ALT_FRAME_ABOVE_TERRAIN, height_above_ground_cm);
    }

    sub.precland.update(height_above_ground_cm);

    // log output
    Log_Write_Precland();
}

Exemple #3

Fichier : ArduCopter.cpp Projet : R-Lefebvre/ardupilot

// twentyfive_hz_logging - should be run at 25hz
void Copter::twentyfive_hz_logging()
{
#if HIL_MODE != HIL_MODE_DISABLED
    // HIL for a copter needs very fast update of the servo values
    gcs().send_message(MSG_SERVO_OUTPUT_RAW);
#endif

#if HIL_MODE == HIL_MODE_DISABLED
    if (should_log(MASK_LOG_ATTITUDE_FAST)) {
        Log_Write_EKF_POS();
    }

    // log IMU data if we're not already logging at the higher rate
    if (should_log(MASK_LOG_IMU) && !should_log(MASK_LOG_IMU_RAW)) {
        DataFlash.Log_Write_IMU();
    }
#endif

#if PRECISION_LANDING == ENABLED
    // log output
    Log_Write_Precland();
#endif
}