Differences

This shows you the differences between two versions of the page.

--- searchwing-ardupilot-parameters [2021/03/15 19:03]
wf68spef [RPM]
+++ searchwing-ardupilot-parameters [2021/05/29 00:06]
wf68spef
@@ Line 71: / Line 71: @@
 |SR2_PARAMS       |0           |0 Hz |  |
 |SR2_ADSB         |0           |0 Hz | |
+===== Logging =====
+Several bits can be set for logging of different informations: [[https://ardupilot.org/plane/docs/parameters.html#log-bitmask-log-bitmask|Log Bitmask Description]]
+Enabled all (''==65535'') results in following per message data sum in bytes for a 20 minute flight:
+{{ ::average_log_msg_sizes.png?1400 |}}
+*** The PID, NKF(EKF) and IMU take a lot of space.**
+* 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.
+* 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.
+* TECS (Total Energy Control System) is not analyzed so far and could be disabled.
+* 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.**
+* 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.**
+This results in the following Table (according to [[https://ardupilot.org/plane/docs/parameters.html#log-bitmask-log-bitmask|Log Bitmask Description]]):
+^ Bit 	^ Meaning    ^ Enabled ^
+| 0 | ATTITUDE_FAST | OFF |
+| 1 | ATTITUDE_MED | ON |
+| 2 | GPS | ON |
+| 3 | PM | ON |
+| 4 | CTUN | OFF |
+| 5 | NTUN | OFF |
+| 6 | MODE | ON |
+| 7 | IMU | OFF |
+| 8 | CMD | ON |
+| 9 | CURRENT | ON |
+| 10 | COMPASS | ON |
+| 11 | TECS | OFF |
+| 12 | CAMERA | OFF |
+| 13 | RC | ON |
+| 14 | SONAR | OFF |
+| 15 | ARM/DISARM | ON |
+| 19 | IMU_RAW | OFF |
+This results into the following parameter value
+^Parametername      ^Value       ^Description                 ^Remark  ^
+|LOG_BITMASK       |921           |921600 Baud |  |
+|SERIAL5_PROTOCOL   |2           |MAVLink2 |   |