Improve Ardupilot AC_PrecLand logging

Question

Improve Ardupilot AC_PrecLand logging

fnoop opened this issue 6 years ago · 5 comments

fnoop commented 6 years ago

Improve AC_PrecLand dataflash logging to include new LANDING_TARGET fields, and better data.

Answer 1 · 2018-08-06T19:25:26.000Z

Should add: uint64_t sensor_time_us;, but depends on #9020, so add after that PR is merged.

Answer 2 · 2018-08-06T19:34:15.000Z

Currently, log fields:

        pos_x           : target_pos_rel.x,
        pos_y           : target_pos_rel.y,
        vel_x           : target_vel_rel.x,
        vel_y           : target_vel_rel.y

data is obtained from _target_pos_rel_out_NE and _target_pos_rel_out_NE which are the final calculated target position after estimation, offsets and predictions, in body frame.
Would be helpful for debugging where the original sensor data is not immediately available (ie. IRLock) to also log _target_pos_rel_meas_NED which is the target vector before estimation.

Answer 3 · 2018-08-06T19:41:11.000Z

Distance and alt should also be logged but again that's dependent on another PR #9125.

Answer 4 · 2018-08-06T20:37:40.000Z

PR raised: ArduPilot/ardupilot#9130

Answer 5 · 2018-08-22T07:56:27.000Z

PR #9130 closed, need to add target_type and target_num to logging.