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Code Issues Releases Activity

OP-1474 Revert TPS debugging code

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This commit is contained in:
Stefan Karlsson 2014-09-10 00:42:40 +02:00
parent 0e2af9c654
commit 7afb211330
8 changed files with 2 additions and 48 deletions
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24
flight/modules/Stabilization/innerloop.c
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@ -44,8 +44,6 @@
#include <stabilizationbank.h> #include <stabilizationbank.h>
#include <stabilizationdesired.h> #include <stabilizationdesired.h>
#include <actuatordesired.h> #include <actuatordesired.h>
#include <tpsdebug.h>
#include <pid.h> // FIXME: Temporary debugging
#include <stabilization.h> #include <stabilization.h>
#include <relay_tuning.h> #include <relay_tuning.h>
@ -86,7 +84,6 @@ void stabilizationInnerloopInit()
ManualControlCommandInitialize(); ManualControlCommandInitialize();
StabilizationDesiredInitialize(); StabilizationDesiredInitialize();
ActuatorDesiredInitialize(); ActuatorDesiredInitialize();
TPSDebugInitialize();
#ifdef REVOLUTION #ifdef REVOLUTION
AirspeedStateInitialize(); AirspeedStateInitialize();
AirspeedStateConnectCallback(AirSpeedUpdatedCb); AirspeedStateConnectCallback(AirSpeedUpdatedCb);
@ -143,27 +140,6 @@ static inline pid_scaler create_pid_scaler()
} }
}; };
// FIXME: Temporary debugging
static int pidDebugCount = 0;
pidDebugCount++;
if (pidDebugCount == 100) {
struct pid *pid = &stabSettings.innerPids[0];
TPSDebugData tpsDebug;
TPSDebugGet(&tpsDebug);
tpsDebug.thrust = scaler.x;
tpsDebug.p = pid->p;
tpsDebug.d = pid->d;
tpsDebug.factor = pid_scale_factor(&scaler);
tpsDebug.p_scaled = tpsDebug.p * tpsDebug.factor;
tpsDebug.d_scaled = tpsDebug.d * tpsDebug.factor;
TPSDebugSet(&tpsDebug);
pidDebugCount = 0;
}
return scaler; return scaler;
} }

1
flight/targets/boards/coptercontrol/firmware/Makefile
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@ -128,7 +128,6 @@ ifndef TESTAPP
SRC += $(OPUAVSYNTHDIR)/airspeedstate.c SRC += $(OPUAVSYNTHDIR)/airspeedstate.c
SRC += $(OPUAVSYNTHDIR)/mpu6000settings.c SRC += $(OPUAVSYNTHDIR)/mpu6000settings.c
SRC += $(OPUAVSYNTHDIR)/perfcounter.c SRC += $(OPUAVSYNTHDIR)/perfcounter.c
SRC += $(OPUAVSYNTHDIR)/tpsdebug.c
else else
## Test Code ## Test Code
SRC += $(OPTESTS)/test_common.c SRC += $(OPTESTS)/test_common.c

1
flight/targets/boards/discoveryf4bare/firmware/UAVObjects.inc
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@ -115,7 +115,6 @@ UAVOBJSRCFILENAMES += mpu6000settings
UAVOBJSRCFILENAMES += txpidsettings UAVOBJSRCFILENAMES += txpidsettings
UAVOBJSRCFILENAMES += takeofflocation UAVOBJSRCFILENAMES += takeofflocation
UAVOBJSRCFILENAMES += perfcounter UAVOBJSRCFILENAMES += perfcounter
UAVOBJSRCFILENAMES += tpsdebug
UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(OPUAVSYNTHDIR)/$(UAVOBJSRCFILE).c ) UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(OPUAVSYNTHDIR)/$(UAVOBJSRCFILE).c )
UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) ) UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )

1
flight/targets/boards/revolution/firmware/UAVObjects.inc
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@ -115,7 +115,6 @@ UAVOBJSRCFILENAMES += mpu6000settings
UAVOBJSRCFILENAMES += txpidsettings UAVOBJSRCFILENAMES += txpidsettings
UAVOBJSRCFILENAMES += takeofflocation UAVOBJSRCFILENAMES += takeofflocation
UAVOBJSRCFILENAMES += perfcounter UAVOBJSRCFILENAMES += perfcounter
UAVOBJSRCFILENAMES += tpsdebug
UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(OPUAVSYNTHDIR)/$(UAVOBJSRCFILE).c ) UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(OPUAVSYNTHDIR)/$(UAVOBJSRCFILE).c )
UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) ) UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )

1
flight/targets/boards/revoproto/firmware/UAVObjects.inc
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@ -114,7 +114,6 @@ UAVOBJSRCFILENAMES += poilearnsettings
UAVOBJSRCFILENAMES += mpu6000settings UAVOBJSRCFILENAMES += mpu6000settings
UAVOBJSRCFILENAMES += txpidsettings UAVOBJSRCFILENAMES += txpidsettings
UAVOBJSRCFILENAMES += takeofflocation UAVOBJSRCFILENAMES += takeofflocation
UAVOBJSRCFILENAMES += tpsdebug
UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(OPUAVSYNTHDIR)/$(UAVOBJSRCFILE).c ) UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(OPUAVSYNTHDIR)/$(UAVOBJSRCFILE).c )
UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) ) UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )

1
flight/targets/boards/simposix/firmware/UAVObjects.inc
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@ -112,7 +112,6 @@ UAVOBJSRCFILENAMES += altitudeholdstatus
UAVOBJSRCFILENAMES += ekfconfiguration UAVOBJSRCFILENAMES += ekfconfiguration
UAVOBJSRCFILENAMES += ekfstatevariance UAVOBJSRCFILENAMES += ekfstatevariance
UAVOBJSRCFILENAMES += takeofflocation UAVOBJSRCFILENAMES += takeofflocation
UAVOBJSRCFILENAMES += tpsdebug
UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c ) UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c )
UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) ) UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )

6
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
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@ -127,8 +127,7 @@ HEADERS += \
$$UAVOBJECT_SYNTHETICS/waypointactive.h \ $$UAVOBJECT_SYNTHETICS/waypointactive.h \
$$UAVOBJECT_SYNTHETICS/mpu6000settings.h \ $$UAVOBJECT_SYNTHETICS/mpu6000settings.h \
$$UAVOBJECT_SYNTHETICS/takeofflocation.h \ $$UAVOBJECT_SYNTHETICS/takeofflocation.h \
$$UAVOBJECT_SYNTHETICS/perfcounter.h \ $$UAVOBJECT_SYNTHETICS/perfcounter.h
$$UAVOBJECT_SYNTHETICS/tpsdebug.h
SOURCES += \ SOURCES += \
$$UAVOBJECT_SYNTHETICS/accelgyrosettings.cpp \ $$UAVOBJECT_SYNTHETICS/accelgyrosettings.cpp \
@ -232,6 +231,5 @@ SOURCES += \
$$UAVOBJECT_SYNTHETICS/waypointactive.cpp \ $$UAVOBJECT_SYNTHETICS/waypointactive.cpp \
$$UAVOBJECT_SYNTHETICS/mpu6000settings.cpp \ $$UAVOBJECT_SYNTHETICS/mpu6000settings.cpp \
$$UAVOBJECT_SYNTHETICS/takeofflocation.cpp \ $$UAVOBJECT_SYNTHETICS/takeofflocation.cpp \
$$UAVOBJECT_SYNTHETICS/perfcounter.cpp \ $$UAVOBJECT_SYNTHETICS/perfcounter.cpp
$$UAVOBJECT_SYNTHETICS/tpsdebug.cpp

15
shared/uavobjectdefinition/tpsdebug.xml
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@ -1,15 +0,0 @@
<xml>
<object name="TPSDebug" singleinstance="true" settings="false" category="State">
<description>Debugging of the @ref Thrust PID Scale module</description>
<field name="thrust" units="ratio" type="float" elements="1" defaultvalue="0" />
<field name="factor" units="ratio" type="float" elements="1" defaultvalue="0" />
<field name="p" units="ratio" type="float" elements="1" defaultvalue="0" />
<field name="p_scaled" units="ratio" type="float" elements="1" defaultvalue="0" />
<field name="d" units="ratio" type="float" elements="1" defaultvalue="0" />
<field name="d_scaled" units="ratio" type="float" elements="1" defaultvalue="0" />
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>