logger_control_effectiveness module

Logs to a csv file data required to compute control effectiveness

Data can be post-processed using the tool in sw/tools/control_effectiveness Based on ChibiOS SD log

Example for airframe file

Add to your firmware section:

<module name="logger_control_effectiveness"/>

Module configuration options

Airframe file section

• section name: CONTROL_EFFECTIVENESS prefix: LOGGER_CONTROL_EFFECTIVENESS_
  • name COMMANDS value: FALSE|TRUE
    Description: log command vector (true by default)
  • name ACTUATORS value: FALSE|TRUE
    Description: log actuator vector
  • name POS value: FALSE|TRUE
    Description: log position (ENU frame, integer representation)
  • name SPEED value: FALSE|TRUE
    Description: log speed (ENU frame, integer representation)
  • name AIRSPEED value: FALSE|TRUE
    Description: log airspeed (float)

Module functions

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• logger_control_effectiveness_periodic()
  • Running at maximum module frequency.
  • Autorun: FALSE
    Periodic function is started by user command.
  • Start function: logger_control_effectiveness_start()
    Executed before the periodic function starts.

Files

Header Files

The following headers are automatically included in modules.h

• logger_control_effectiveness.h

Source Files

• modules/loggers/logger_control_effectiveness.c

Raw logger_control_effectiveness.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="logger_control_effectiveness" dir="loggers" task="core">
  <doc>
    <description>
      Logs to a csv file data required to compute control effectiveness
      Data can be post-processed using the tool in sw/tools/control_effectiveness
      Based on ChibiOS SD log
    </description>
    <section name="CONTROL_EFFECTIVENESS" prefix="LOGGER_CONTROL_EFFECTIVENESS_">
      <define name="COMMANDS" value="FALSE|TRUE" description="log command vector (true by default)"/>
      <define name="ACTUATORS" value="FALSE|TRUE" description="log actuator vector"/>
      <define name="POS" value="FALSE|TRUE" description="log position (ENU frame, integer representation)"/>
      <define name="SPEED" value="FALSE|TRUE" description="log speed (ENU frame, integer representation)"/>
      <define name="AIRSPEED" value="FALSE|TRUE" description="log airspeed (float)"/>
    </section>
  </doc>
  <header>
    <file name="logger_control_effectiveness.h" />
  </header>
  <periodic fun="logger_control_effectiveness_periodic()" start="logger_control_effectiveness_start()" autorun="FALSE" />
  <makefile target="ap">
    <file name="logger_control_effectiveness.c"/>
  </makefile>
</module>