C++ (Cpp) Log_Write_Attitude 예제들

예제 #1

파일: ArduPlane.cpp 프로젝트: waltermayorga/ardupilot

/*
  do 10Hz logging
 */
void Plane::update_logging1(void)
{
    if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) {
        Log_Write_Attitude();
    }

    if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_IMU))
        Log_Write_IMU();
}

예제 #2

파일: APMrover2.cpp 프로젝트: Blake51/ardupilot

/*
  log some key data - 10Hz
 */
void Rover::update_logging1(void)
{
    if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST))
        Log_Write_Attitude();

    if (should_log(MASK_LOG_CTUN))
        Log_Write_Control_Tuning();

    if (should_log(MASK_LOG_NTUN))
        Log_Write_Nav_Tuning();
}

예제 #3

파일: ArduPlane.cpp 프로젝트: OXINARF/ardupilot

/*
  do 10Hz logging
 */
void Plane::update_logging1(void)
{
    if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) {
        Log_Write_Attitude();
    }

    if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_IMU))
        DataFlash.Log_Write_IMU();

    if (should_log(MASK_LOG_ATTITUDE_MED))
        DataFlash.Log_Write_AOA_SSA(ahrs);
}

예제 #4

파일: AntennaTracker.cpp 프로젝트: ShingoMatsuura/ardupilot

void Tracker::ten_hz_logging_loop()
{
    if (should_log(MASK_LOG_IMU)) {
        DataFlash.Log_Write_IMU();
    }
    if (should_log(MASK_LOG_ATTITUDE)) {
        Log_Write_Attitude();
    }
    if (should_log(MASK_LOG_RCIN)) {
        DataFlash.Log_Write_RCIN();
    }
    if (should_log(MASK_LOG_RCOUT)) {
        DataFlash.Log_Write_RCOUT();
    }
}

예제 #5

파일: APMrover2.cpp 프로젝트: manuk007/ardupilot

/*
  log some key data - 10Hz
 */
void Rover::update_logging1(void)
{
    if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) {
        Log_Write_Attitude();
    }

    if (should_log(MASK_LOG_THR)) {
        Log_Write_Throttle();
        DataFlash.Log_Write_Beacon(g2.beacon);
        Log_Write_Proximity();
    }

    if (should_log(MASK_LOG_NTUN)) {
        Log_Write_Nav_Tuning();
    }
}

예제 #6

파일: ArduSub.cpp 프로젝트: LanderU/ardupilot

// twentyfive_hz_logging_loop
// should be run at 25hz
void Sub::twentyfive_hz_logging()
{
    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);
    }
}

예제 #7

파일: ArduCopter.cpp 프로젝트: lthall/Leonard_ardupilot

// ten_hz_logging_loop
// should be run at 10hz
void Copter::ten_hz_logging_loop()
{
    // log attitude data if we're not already logging at the higher rate
    if (should_log(MASK_LOG_ATTITUDE_MED) && !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() );
        }
    }
    if (should_log(MASK_LOG_MOTBATT)) {
        Log_Write_MotBatt();
    }
    if (should_log(MASK_LOG_RCIN)) {
        DataFlash.Log_Write_RCIN();
        if (rssi.enabled()) {
            DataFlash.Log_Write_RSSI(rssi);
        }
    }
    if (should_log(MASK_LOG_RCOUT)) {
        DataFlash.Log_Write_RCOUT();
    }
    if (should_log(MASK_LOG_NTUN) && (mode_requires_GPS(control_mode) || landing_with_GPS())) {
        Log_Write_Nav_Tuning();
    }
    if (should_log(MASK_LOG_IMU) || should_log(MASK_LOG_IMU_FAST) || should_log(MASK_LOG_IMU_RAW)) {
        DataFlash.Log_Write_Vibration(ins);
    }
    if (should_log(MASK_LOG_CTUN)) {
        attitude_control.control_monitor_log();
        Log_Write_Proximity();
    }
#if FRAME_CONFIG == HELI_FRAME
    Log_Write_Heli();
#endif
}

예제 #8

파일: ArduCopter.cpp 프로젝트: R-Lefebvre/ardupilot

// ten_hz_logging_loop
// should be run at 10hz
void Copter::ten_hz_logging_loop()
{
    // log attitude data if we're not already logging at the higher rate
    if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) {
        Log_Write_Attitude();
        Log_Write_EKF_POS();
    }
    if (should_log(MASK_LOG_MOTBATT)) {
        Log_Write_MotBatt();
    }
    if (should_log(MASK_LOG_RCIN)) {
        DataFlash.Log_Write_RCIN();
        if (rssi.enabled()) {
            DataFlash.Log_Write_RSSI(rssi);
        }
    }
    if (should_log(MASK_LOG_RCOUT)) {
        DataFlash.Log_Write_RCOUT();
    }
    if (should_log(MASK_LOG_NTUN) && (flightmode->requires_GPS() || landing_with_GPS())) {
        pos_control->write_log();
    }
    if (should_log(MASK_LOG_IMU) || should_log(MASK_LOG_IMU_FAST) || should_log(MASK_LOG_IMU_RAW)) {
        DataFlash.Log_Write_Vibration();
    }
    if (should_log(MASK_LOG_CTUN)) {
        attitude_control->control_monitor_log();
#if PROXIMITY_ENABLED == ENABLED
        DataFlash.Log_Write_Proximity(g2.proximity);  // Write proximity sensor distances
#endif
#if BEACON_ENABLED == ENABLED
        DataFlash.Log_Write_Beacon(g2.beacon);
#endif
    }
#if FRAME_CONFIG == HELI_FRAME
    Log_Write_Heli();
#endif
}

예제 #9

파일: ArduPlane.cpp 프로젝트: VirtualRobotixItalia/ardupilot

// update AHRS system
void Plane::ahrs_update()
{
    hal.util->set_soft_armed(arming.is_armed() &&
                   hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);

#if HIL_SUPPORT
    if (g.hil_mode == 1) {
        // update hil before AHRS update
        gcs_update();
    }
#endif

    ahrs.update();

    if (should_log(MASK_LOG_ATTITUDE_FAST)) {
        Log_Write_Attitude();
    }

    if (should_log(MASK_LOG_IMU)) {
        Log_Write_IMU();
        DataFlash.Log_Write_IMUDT(ins);
    }

    // calculate a scaled roll limit based on current pitch
    roll_limit_cd = g.roll_limit_cd * cosf(ahrs.pitch);
    pitch_limit_min_cd = aparm.pitch_limit_min_cd * fabsf(cosf(ahrs.roll));

    // updated the summed gyro used for ground steering and
    // auto-takeoff. Dot product of DCM.c with gyro vector gives earth
    // frame yaw rate
    steer_state.locked_course_err += ahrs.get_yaw_rate_earth() * G_Dt;
    steer_state.locked_course_err = wrap_PI(steer_state.locked_course_err);

    // update inertial_nav for quadplane
    quadplane.inertial_nav.update(G_Dt);
}

예제 #10

파일: APMrover2.cpp 프로젝트: manuk007/ardupilot

// update AHRS system
void Rover::ahrs_update()
{
    update_soft_armed();

#if HIL_MODE != HIL_MODE_DISABLED
    // update hil before AHRS update
    gcs_update();
#endif

    // AHRS may use movement to calculate heading
    update_ahrs_flyforward();

    ahrs.update();

    // update position
    have_position = ahrs.get_position(current_loc);

    // update home from EKF if necessary
    update_home_from_EKF();

    // if using the EKF get a speed update now (from accelerometers)
    Vector3f velocity;
    if (ahrs.get_velocity_NED(velocity)) {
        ground_speed = norm(velocity.x, velocity.y);
    } else if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
        ground_speed = ahrs.groundspeed();
    }

    if (should_log(MASK_LOG_ATTITUDE_FAST)) {
        Log_Write_Attitude();
    }

    if (should_log(MASK_LOG_IMU)) {
        DataFlash.Log_Write_IMU();
    }
}

예제 #11

파일: ArduCopter.cpp 프로젝트: R-Lefebvre/ardupilot

// Full rate logging of attitude, rate and pid loops
// should be run at 400hz
void Copter::fourhundred_hz_logging()
{
    if (should_log(MASK_LOG_ATTITUDE_FAST)) {
        Log_Write_Attitude();
    }
}

예제 #12

파일: Log.cpp 프로젝트: ShingoMatsuura/ardupilot

// do logging at loop rate
void Plane::Log_Write_Fast(void)
{
    if (should_log(MASK_LOG_ATTITUDE_FAST)) {
        Log_Write_Attitude();
    }
}