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searchwing-ardupilot-parameters [2021/05/30 01:10] wf68spef |
searchwing-ardupilot-parameters [2021/08/08 13:45] wf68spef [Logging] |
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| ^Parametername ^Value ^Description ^Remark ^ | ^Parametername ^Value ^Description ^Remark ^ | ||
| |SERIAL2_BAUD |9 |9600 Baud |reduced to 9600 as otherwise no wifi with MAVESP connection possible | | |SERIAL2_BAUD |9 |9600 Baud |reduced to 9600 as otherwise no wifi with MAVESP connection possible | | ||
| - | |SERIAL2_PROTOCOL |1 |MAVLink1 |Only MAVLink1 works for pymavlink on pi | | + | |SERIAL2_PROTOCOL |2 |MAVLink2 | Mavlink2 needed for PLAY_TUNE | |
| |SR2_RAW_SENS |0 |0 Hz |no raw data needed | | |SR2_RAW_SENS |0 |0 Hz |no raw data needed | | ||
| |SR2_EXT_STAT |1 |1 Hz | | | |SR2_EXT_STAT |1 |1 Hz | | | ||
| Line 83: | Line 83: | ||
| * The PID, NKF(EKF) and IMU take a lot of space. | * 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. __**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. | + | * 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) 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.** | * 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.** | ||
| Line 98: | Line 98: | ||
| | 5 | NTUN | OFF | | | 5 | NTUN | OFF | | ||
| | 6 | MODE | ON | | | 6 | MODE | ON | | ||
| - | | 7 | IMU | OFF | | + | | 7 | IMU | ON | |
| | 8 | CMD | ON | | | 8 | CMD | ON | | ||
| | 9 | CURRENT | ON | | | 9 | CURRENT | ON | | ||
| Line 113: | Line 113: | ||
| ^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 | ~2.08 MB/Min Log | | + | |LOG_BITMASK | 42830 | Log from table above (IMU disabled) | ~2.08 MB/Min Log | |
| + | |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 | | ||