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mavfft_pid.py: handle logs using fast rate control #973

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Jan 15, 2025
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mavfft_pid.py: handle logs using fast rate control #973

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28 changes: 22 additions & 6 deletions tools/mavfft_pid.py
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@
from argparse import ArgumentParser
parser = ArgumentParser(description=__doc__)
parser.add_argument("--condition", default=None, help="select packets by condition")
parser.add_argument("--sample-rate", dest='sample_rate', type=int, default=400, help="sample rate of PID values")
parser.add_argument("--sample-rate", dest='sample_rate', type=int, default=0, help="sample rate of PID values")
parser.add_argument("logs", metavar="LOG", nargs="+")

args = parser.parse_args()
Expand All @@ -22,6 +22,10 @@ def fft(logfile):
'''display fft for PID data in logfile'''

sample_rate = args.sample_rate
loop_rate = 400
fstrate_enable = 0
fstrate_div = 1
gyro_rate = 0

print("Processing log %s" % filename)
mlog = mavutil.mavlink_connection(filename)
Expand All @@ -31,11 +35,23 @@ def fft(logfile):
if m is None:
break
type = m.get_type()
if type == "PARM" and m.Name == 'SCHED_LOOP_RATE':
sample_rate = int(m.Value)
break


if type == "PARM":
if m.Name == 'SCHED_LOOP_RATE':
loop_rate = int(m.Value)
elif m.Name == 'FSTRATE_ENABLE':
fstrate_enable = int(m.Value)
elif m.Name == 'FSTRATE_DIV':
fastrate_div = int(m.Value)
elif m.Name == 'INS_GYRO_RATE':
gyro_rate = int(m.Value)

if sample_rate == 0:
if fstrate_enable == 0:
sample_rate = loop_rate
else:
gyro_rate = 1000 * pow(2, gyro_rate)
sample_rate = gyro_rate / fstrate_div

mlog = mavutil.mavlink_connection(filename)

data = {'PIDR.rate' : sample_rate,
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