Updating PID logging variables

bitcraze · Oct 3, 2022 · 33942e0 · 33942e0
1 parent 4f53246
commit 33942e0
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diff --git a/src/modules/src/attitude_pid_controller.c b/src/modules/src/attitude_pid_controller.c
@@ -225,6 +225,10 @@ LOG_ADD(LOG_FLOAT, roll_outI, &pidRoll.outI)
  * @brief Derivative output roll
  */
 LOG_ADD(LOG_FLOAT, roll_outD, &pidRoll.outD)
+/**
+ * @brief Feedforward output roll
+ */
+LOG_ADD(LOG_FLOAT, roll_outFF, &pidRoll.outFF)
 /**
  * @brief Proportional output pitch
  */
@@ -237,6 +241,10 @@ LOG_ADD(LOG_FLOAT, pitch_outI, &pidPitch.outI)
  * @brief Derivative output pitch
  */
 LOG_ADD(LOG_FLOAT, pitch_outD, &pidPitch.outD)
+/**
+ * @brief Feedforward output pitch
+ */
+LOG_ADD(LOG_FLOAT, pitch_outFF, &pidPitch.outFF)
 /**
  * @brief Proportional output yaw
  */
@@ -249,6 +257,10 @@ LOG_ADD(LOG_FLOAT, yaw_outI, &pidYaw.outI)
  * @brief Derivative output yaw
  */
 LOG_ADD(LOG_FLOAT, yaw_outD, &pidYaw.outD)
+/**
+ * @brief Feedforward output yaw
+ */
+LOG_ADD(LOG_FLOAT, yaw_outFF, &pidYaw.outFF)
 LOG_GROUP_STOP(pid_attitude)
 
 /**
@@ -267,6 +279,10 @@ LOG_ADD(LOG_FLOAT, roll_outI, &pidRollRate.outI)
  * @brief Derivative output roll rate
  */
 LOG_ADD(LOG_FLOAT, roll_outD, &pidRollRate.outD)
+/**
+ * @brief Feedforward output roll rate
+ */
+LOG_ADD(LOG_FLOAT, roll_outFF, &pidRollRate.outFF)
 /**
  * @brief Proportional output pitch rate
  */
@@ -279,6 +295,10 @@ LOG_ADD(LOG_FLOAT, pitch_outI, &pidPitchRate.outI)
  * @brief Derivative output pitch rate
  */
 LOG_ADD(LOG_FLOAT, pitch_outD, &pidPitchRate.outD)
+/**
+ * @brief Feedforward output pitch rate
+ */
+LOG_ADD(LOG_FLOAT, pitch_outFF, &pidPitchRate.outFF)
 /**
  * @brief Proportional output yaw rate
  */
@@ -291,6 +311,10 @@ LOG_ADD(LOG_FLOAT, yaw_outI, &pidYawRate.outI)
  * @brief Derivative output yaw rate
  */
 LOG_ADD(LOG_FLOAT, yaw_outD, &pidYawRate.outD)
+/**
+ * @brief Feedforward output yaw rate
+ */
+LOG_ADD(LOG_FLOAT, yaw_outFF, &pidYawRate.outFF)
 LOG_GROUP_STOP(pid_rate)
 
 /**

diff --git a/src/modules/src/position_controller_pid.c b/src/modules/src/position_controller_pid.c
@@ -346,6 +346,23 @@ LOG_ADD(LOG_FLOAT, bodyX, &state_body_x)
  */
 LOG_ADD(LOG_FLOAT, bodyY, &state_body_y)
 
+/**
+ * @brief PID proportional output position x
+ */
+LOG_ADD(LOG_FLOAT, Xp, &this.pidX.pid.outP)
+/**
+ * @brief PID integral output position x
+ */
+LOG_ADD(LOG_FLOAT, Xi, &this.pidX.pid.outI)
+/**
+ * @brief PID derivative output position x
+ */
+LOG_ADD(LOG_FLOAT, Xd, &this.pidX.pid.outD)
+/**
+ * @brief PID feedforward output position x
+ */
+LOG_ADD(LOG_FLOAT, Xff, &this.pidX.pid.outFF)
+
 /**
  * @brief PID proportional output position y
  */
@@ -358,6 +375,10 @@ LOG_ADD(LOG_FLOAT, Yi, &this.pidY.pid.outI)
  * @brief PID derivative output position y
  */
 LOG_ADD(LOG_FLOAT, Yd, &this.pidY.pid.outD)
+/**
+ * @brief PID feedforward output position y
+ */
+LOG_ADD(LOG_FLOAT, Yff, &this.pidY.pid.outFF)
 
 /**
  * @brief PID proportional output position z
@@ -371,6 +392,10 @@ LOG_ADD(LOG_FLOAT, Zi, &this.pidZ.pid.outI)
  * @brief PID derivative output position z
  */
 LOG_ADD(LOG_FLOAT, Zd, &this.pidZ.pid.outD)
+/**
+ * @brief PID feedforward output position z
+ */
+LOG_ADD(LOG_FLOAT, Zd, &this.pidZ.pid.outFF)
 
 /**
  * @brief PID proportional output velocity x
@@ -384,6 +409,27 @@ LOG_ADD(LOG_FLOAT, VXi, &this.pidVX.pid.outI)
  * @brief PID derivative output velocity x
  */
 LOG_ADD(LOG_FLOAT, VXd, &this.pidVX.pid.outD)
+/**
+ * @brief PID feedforward output velocity x
+ */
+LOG_ADD(LOG_FLOAT, VXff, &this.pidVX.pid.outFF)
+
+/**
+ * @brief PID proportional output velocity y
+ */
+LOG_ADD(LOG_FLOAT, VYp, &this.pidVY.pid.outP)
+/**
+ * @brief PID integral output velocity y
+ */
+LOG_ADD(LOG_FLOAT, VYi, &this.pidVY.pid.outI)
+/**
+ * @brief PID derivative output velocity y
+ */
+LOG_ADD(LOG_FLOAT, VYd, &this.pidVY.pid.outD)
+/**
+ * @brief PID feedforward output velocity y
+ */
+LOG_ADD(LOG_FLOAT, VYff, &this.pidVY.pid.outFF)
 
 /**
  * @brief PID proportional output velocity z
@@ -397,6 +443,10 @@ LOG_ADD(LOG_FLOAT, VZi, &this.pidVZ.pid.outI)
  * @brief PID integral output velocity z
  */
 LOG_ADD(LOG_FLOAT, VZd, &this.pidVZ.pid.outD)
+/**
+ * @brief PID feedforward output velocity z
+ */
+LOG_ADD(LOG_FLOAT, VZff, &this.pidVZ.pid.outFF)
 
 LOG_GROUP_STOP(posCtl)