[[searchwing-ardupilot-parameters]]

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searchwing-ardupilot-parameters [2021/08/08 13:45]
wf68spef [Logging]
searchwing-ardupilot-parameters [2021/10/03 08:41] (current)
beckmanf [Logging] added CTUN, NTUN, TECS
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   * The PID and EKF is saved using the "​attitude"​ bit in the logging parameter setting (see [[https://​github.com/​ArduPilot/​ardupilot/​blob/​6af0f460afa6f51c41056cd25fe2c70164d9d460/​ArduPlane/​Log.cpp#​L39|Code]]). For the attitude two settings are available: Fast (50Hz), Medium(10Hz) according to [[https://​github.com/​ArduPilot/​ardupilot_wiki/​blob/​6c81c28126e6cb2bdbb9cb58291342ca3ade96a0/​dev/​source/​docs/​using-the-command-line-interpreter-to-configure-apmcopter.rst#​reading-logs-through-the-cli|LINK]]. I think 10Hz could be enough for us. __**But in the Code actually the Logging is done with 25Hz**__ (see [[https://​github.com/​ArduPilot/​ardupilot/​blob/​d8d3494b170d50f7b45dced928cd5d9150b50d2f/​ArduPlane/​ArduPlane.cpp#​L87|Code]])   * The PID and EKF is saved using the "​attitude"​ bit in the logging parameter setting (see [[https://​github.com/​ArduPilot/​ardupilot/​blob/​6af0f460afa6f51c41056cd25fe2c70164d9d460/​ArduPlane/​Log.cpp#​L39|Code]]). For the attitude two settings are available: Fast (50Hz), Medium(10Hz) according to [[https://​github.com/​ArduPilot/​ardupilot_wiki/​blob/​6c81c28126e6cb2bdbb9cb58291342ca3ade96a0/​dev/​source/​docs/​using-the-command-line-interpreter-to-configure-apmcopter.rst#​reading-logs-through-the-cli|LINK]]. I think 10Hz could be enough for us. __**But in the Code actually the Logging is done with 25Hz**__ (see [[https://​github.com/​ArduPilot/​ardupilot/​blob/​d8d3494b170d50f7b45dced928cd5d9150b50d2f/​ArduPlane/​ArduPlane.cpp#​L87|Code]])
   * IMU logging **could be disabled,** as its already triggerd by attitude logging anyway (see [[https://​github.com/​ArduPilot/​ardupilot/​blob/​d8d3494b170d50f7b45dced928cd5d9150b50d2f/​ArduPlane/​ArduPlane.cpp#​L209|Code]]),​ but with less data amount. **UPDATE:** Actually IMU also loggs the **BARO**, so it should not be disabled (see [[https://​github.com/​ArduPilot/​ardupilot/​search?​q=set_log_baro_bit|INFO]].   * IMU logging **could be disabled,** as its already triggerd by attitude logging anyway (see [[https://​github.com/​ArduPilot/​ardupilot/​blob/​d8d3494b170d50f7b45dced928cd5d9150b50d2f/​ArduPlane/​ArduPlane.cpp#​L209|Code]]),​ but with less data amount. **UPDATE:** Actually IMU also loggs the **BARO**, so it should not be disabled (see [[https://​github.com/​ArduPilot/​ardupilot/​search?​q=set_log_baro_bit|INFO]].
-  * TECS (Total Energy Control System) is not analyzed so far and **could be disabled**. +  * TECS (Total Energy Control System) ​controls altitude vs speed and is important ​and **should ​be enabled**. 
-  * CTUN Logs control loop tuning info at 10 Hz. This information is useful for tuning servo control loop gain values. AFAIK this is not analyzed so far and** could be disabled.** +  * CTUN Logs contain baro and ** should ​be enabled.** 
-  * NTUN Logs navigation tuning info at 10 Hz. This information is useful for tuning navigation control loop gain values. AFAIK this is not analyzed so far and** could be disabled.**+  * NTUN Logs navigation tuning info at 10 Hz and ** should  ​be enabled.**
  
 This results in the following Table (according to [[https://​ardupilot.org/​plane/​docs/​parameters.html#​log-bitmask-log-bitmask|Log Bitmask Description]]):​ This results in the following Table (according to [[https://​ardupilot.org/​plane/​docs/​parameters.html#​log-bitmask-log-bitmask|Log Bitmask Description]]):​
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 | 2 | GPS | ON | | 2 | GPS | ON |
 | 3 | PM | ON | | 3 | PM | ON |
-| 4 | CTUN | OFF +| 4 | CTUN | ON 
-| 5 | NTUN | OFF |+| 5 | NTUN | ON |
 | 6 | MODE | ON | | 6 | MODE | ON |
 | 7 | IMU | ON | | 7 | IMU | ON |
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 | 9 | CURRENT | ON | | 9 | CURRENT | ON |
 | 10 | COMPASS | ON | | 10 | COMPASS | ON |
-| 11 | TECS | OFF |+| 11 | TECS | ON |
 | 12 | CAMERA | OFF | | 12 | CAMERA | OFF |
 | 13 | RC | ON | | 13 | RC | ON |
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 | 15 | ARM/DISARM | ON | | 15 | ARM/DISARM | ON |
 | 19 | IMU_RAW | OFF | | 19 | IMU_RAW | OFF |
 +| 20 | ATTITUDE_FULLRATE | OFF |
  
 This results into the following parameter values. In the remarks you can see empirical Results for some settings from ArduPlane Simulator. This results into the following parameter values. In the remarks you can see empirical Results for some settings from ArduPlane Simulator.
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 ^Parametername ​     ^Value ​      ​^Description ​                ​^Remark ​ ^ ^Parametername ​     ^Value ​      ​^Description ​                ​^Remark ​ ^
 |LOG_BITMASK ​      ​| ​ 65535          | Log all    |     ~3.04 MB/Min Log          | |LOG_BITMASK ​      ​| ​ 65535          | Log all    |     ~3.04 MB/Min Log          |
-|LOG_BITMASK ​      ​|  ​42830          | Log from table above (IMU disabled) |     ~2.08 MB/Min Log         |+|LOG_BITMASK ​      ​|  ​45054          | Log from table above (IMU disabled) |     TODO       |
 |LOG_BITMASK ​      ​| ​ TODO          | Log from table above (IMU enabled) |     ​TODO ​       | |LOG_BITMASK ​      ​| ​ TODO          | Log from table above (IMU enabled) |     ​TODO ​       |
 |LOG_BITMASK ​      ​| ​ 2              | Log only attitude Medium |     ~1.75 MB/Min Log         | |LOG_BITMASK ​      ​| ​ 2              | Log only attitude Medium |     ~1.75 MB/Min Log         |
  • searchwing-ardupilot-parameters.txt
  • Last modified: 2021/10/03 08:41
  • by beckmanf