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Log DCM wind estimate in DCM message #28339

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merged 4 commits into from
Oct 8, 2024
Merged

Log DCM wind estimate in DCM message #28339

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374b9fa
AP_AHRS: DCM: log estimated wind
peterbarker Oct 5, 2024
64c0783
AP_NavEKF3: clarify wind direction descriptions
peterbarker Oct 5, 2024
c013d1f
SITL: clarify wind direction descriptions
peterbarker Oct 5, 2024
3089622
AP_NavEKF2: clarify wind direction descriptions
peterbarker Oct 7, 2024
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16 changes: 11 additions & 5 deletions libraries/AP_AHRS/AP_AHRS_DCM.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -116,18 +116,24 @@ AP_AHRS_DCM::update()
// @Field: Yaw: estimated yaw
// @Field: ErrRP: lowest estimated gyro drift error
// @Field: ErrYaw: difference between measured yaw and DCM yaw estimate
// @Field: VWN: wind velocity, to-the-North component
// @Field: VWE: wind velocity, to-the-East component
// @Field: VWD: wind velocity, Up-to-Down component
AP::logger().WriteStreaming(
"DCM",
"TimeUS," "Roll," "Pitch," "Yaw," "ErrRP," "ErrYaw",
"s" "d" "d" "d" "d" "h",
"F" "0" "0" "0" "0" "0",
"Q" "f" "f" "f" "f" "f",
"TimeUS," "Roll," "Pitch," "Yaw," "ErrRP," "ErrYaw," "VWN," "VWE," "VWD",
"s" "d" "d" "d" "d" "h" "n" "n" "n",
"F" "0" "0" "0" "0" "0" "0" "0" "0",
"Q" "f" "f" "f" "f" "f" "f" "f" "f",
AP_HAL::micros64(),
degrees(roll),
degrees(pitch),
wrap_360(degrees(yaw)),
get_error_rp(),
get_error_yaw()
get_error_yaw(),
_wind.x,
_wind.y,
_wind.z
);
}
#endif // HAL_LOGGING_ENABLED
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4 changes: 2 additions & 2 deletions libraries/AP_NavEKF2/LogStructure.h
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Expand Up @@ -100,8 +100,8 @@ struct PACKED log_NKF1 {
// @Field: GSX: Gyro Scale Factor (X-axis)
// @Field: GSY: Gyro Scale Factor (Y-axis)
// @Field: GSZ: Gyro Scale Factor (Z-axis)
// @Field: VWN: Estimated wind velocity (North component)
// @Field: VWE: Estimated wind velocity (East component)
// @Field: VWN: Estimated wind velocity (moving-to-North component)
// @Field: VWE: Estimated wind velocity (moving-to-East component)
// @Field: MN: Magnetic field strength (North component)
// @Field: ME: Magnetic field strength (East component)
// @Field: MD: Magnetic field strength (Down component)
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4 changes: 2 additions & 2 deletions libraries/AP_NavEKF3/LogStructure.h
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Expand Up @@ -104,8 +104,8 @@ struct PACKED log_XKF1 {
// @Field: AX: Estimated accelerometer X bias
// @Field: AY: Estimated accelerometer Y bias
// @Field: AZ: Estimated accelerometer Z bias
// @Field: VWN: Estimated wind velocity (North component)
// @Field: VWE: Estimated wind velocity (East component)
// @Field: VWN: Estimated wind velocity (moving-to-North component)
// @Field: VWE: Estimated wind velocity (moving-to-East component)
// @Field: MN: Magnetic field strength (North component)
// @Field: ME: Magnetic field strength (East component)
// @Field: MD: Magnetic field strength (Down component)
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2 changes: 1 addition & 1 deletion libraries/SITL/SITL.cpp
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Expand Up @@ -86,7 +86,7 @@ const AP_Param::GroupInfo SIM::var_info[] = {
// @User: Advanced
AP_GROUPINFO("WIND_SPD", 9, SIM, wind_speed, 0),
// @Param: WIND_DIR
// @DisplayName: Simulated Wind direction
// @DisplayName: Direction simulated wind is coming from
// @Description: Allows you to set wind direction (true deg) in sim
// @Units: deg
// @User: Advanced
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