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Remove airspeed and altitude raw data from TECS log, as we have these quantities already in the system log

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This commit is contained in:
Lorenz Meier
2014-08-03 13:17:18 +02:00
parent d3d5aa9bdc
commit 020ac409be
4 changed files with 11 additions and 17 deletions
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6
src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
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@@ -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 */

6
src/modules/sdlog2/sdlog2.c
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@@ -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;

4
src/modules/sdlog2/sdlog2_messages.h
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@@ -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 */

12
src/modules/uORB/topics/tecs_status.h
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@@ -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;