Logging Messages

Refer to Logging Research for a starting point (and necessary data) courtesy of GordOn

Information to be Logged

Attitude Manager

• OutputMixing

  • PID output for the actuators. Include the channel and PID value

• Log once:

  • PID values used

• Log if we enter failureState

Path Manager

• Mode and stage of flight we are in

• Cruising state

  • Cruising state instructions for modifying the flight path

• Coordinated turns and elevation outputs:

  • Desired heading, altitude, and airspeed (Data sent from modes)

  • Desired roll, rudder, pitch, throttle (basically data sent to Attitude Manager)

  • Log once:

    • PID values used

• Log if we enter failureState

Telemetry Manager

• Confirming receipt/sending of data from groundstation

  • “Data sent to ground”

  • “Data received from ground”

  • If successful transfer, output a 1 as well, else 0

• Log if we enter failureState

Sensor Fusion

• Current state of the plane

  • Basically the SFOutput_t struct

    • roll, pitch, yaw, rollRate, etc.

• Raw sensor data

  • Ex. accX, accY, accZ from IMU, airspeed from airspeed sensor

Sensors

• When sensor constructor is called/Sensor module is initialized (happens once in our program, so knowing if/when it happens is nice)

• When we call GetResult(), log the status of the sensor (Kaveet needs to come up with tracking sensor status)

Nice to Haves

• Battery percentage log

File System Organization

• Least organization

  • All logs go into one master file

• Most organization (Preferred)

  • Each numerical value gets its own text file (similar to Simulation)

  • Data that must be grouped (ex. channel PID values) should be in the same file

Brainstorm

• Information we need in every message

  • Timestamp (HHMMSS)

• Odometry Msg

  • speed

  • coordinates in relation to the starting point? (starting point/home is (0,0) and everything is relative)

• Telemetry Msg

  • sensor data (IMU, GPS, etc)

  • path manager waypoints

  • GPS coordinates

  • Target vs actual/current values of altimeter, RPM, Euler angles, etc.

• State Report Msg

  • PID

  • flight mode (takeoff, landing, is landed, following waypoints, etc.)

  • battery charge

• CV info wanted

• Electrical info wanted

• Firmware info wanted

• state of the telemetry, path manager waypoints, and attitude manager state