add yaw and yaw rate logging for MAVLink_SET_POSITION_TARGET_LOCAL_NED #31366
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Commit message could be Copter: mode_guided: log yaw and yaw rate for SET_POSITION_TARGET_LOCAL_NED
Seems like a reasonable change - 'though I wonder why we weren't logging this before.... (@lthall )
ArduCopter/Log.cpp
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| accel_target_y : accel_target_mss.y, | ||
| accel_target_z : accel_target_mss.z | ||
| accel_target_z : accel_target_mss.z, | ||
| yaw_target : wrap_360(degrees(yaw_rad)), |
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Hey,
I wrapped it to 360° since -π/2 was causing issues to compare with ATT.Yaw and ArduPilot logs yaw in [0, 360), so this makes it easier to compare with ATT.yaw.
@peterbarker let me know your thoughts
ArduCopter/Log.cpp
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| accel_target_z : accel_target_mss.z | ||
| accel_target_z : accel_target_mss.z, | ||
| yaw_target : wrap_360(degrees(yaw_rad)), | ||
| yaw_rate_target : yaw_rate_rads |
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| yaw_rate_target : yaw_rate_rads | |
| yaw_rate_target : yaw_rate_rads, |
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I added the formatting changes to the code
ArduCopter/Log.cpp
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| // terrain should be 0 if pos_target_m.z is alt-above-ekf-origin, 1 if alt-above-terrain | ||
| // vel_target_ms is m/s | ||
| void Copter::Log_Write_Guided_Position_Target(ModeGuided::SubMode submode, const Vector3p& pos_target_m, bool is_terrain_alt, const Vector3f& vel_target_ms, const Vector3f& accel_target_mss) | ||
| void Copter::Log_Write_Guided_Position_Target(ModeGuided::SubMode submode, const Vector3p& pos_target_m, bool is_terrain_alt, const Vector3f& vel_target_ms, const Vector3f& accel_target_mss, const float yaw_rad, const float yaw_rate_rads) |
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| void Copter::Log_Write_Guided_Position_Target(ModeGuided::SubMode submode, const Vector3p& pos_target_m, bool is_terrain_alt, const Vector3f& vel_target_ms, const Vector3f& accel_target_mss, const float yaw_rad, const float yaw_rate_rads) | |
| void Copter::Log_Write_Guided_Position_Target(ModeGuided::SubMode submode, const Vector3p& pos_target_m, bool is_terrain_alt, const Vector3f& vel_target_ms, const Vector3f& accel_target_mss, const float yaw_target_rad, const float yaw_target_rate_rads) |
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I added the above renaming changes to the code
ArduCopter/mode_guided.cpp
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| AC_AttitudeControl::HeadingCommand yaw_command = auto_yaw.get_heading(); | ||
| // log target |
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| AC_AttitudeControl::HeadingCommand yaw_command = auto_yaw.get_heading(); | |
| // log target | |
| // log target | |
| AC_AttitudeControl::HeadingCommand yaw_command = auto_yaw.get_heading(); |
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Incorporated the order of comment updates to the code
Hi @peterbarker , |
tejalbarnwal
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…AL_NED Adds support for logging commanded yaw in GUIDED pose targets. Uses AutoYaw object get_heading() to get targets for yaw and yaw rates
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Adds support for logging commanded yaw and yaw rates from the guided setpoint target.
The implementation uses
get_heading()method of the AutoYaw object to get the yaw and yaw rate target.I have tested the branch in SITL.
Please let me know your thoughts on the implementation.
@peterbarker , @rmackay9