Use sample time in Attitude logging #28005
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andyp1per
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Pretty sure we used to do this, and it allowed time to go backwards in logs, and that was painful when you were trying to compare messages... Maybe an extra field? |
Do we guarantee that logs are monotonically increasing? I guess if we do then an extra field would be the way, but that will make log analysis of these messages harder |
I don't recall this but we have line numbers and a time stamp. I don't see why we would have a time stamp associated with the time the log message was communicated to the logging thread rather than the time the data in the message was relevant. |
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Will need a rework after #28026 has been merged. |
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log attitude dt
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| @@ -173,7 +173,7 @@ class AP_AHRS_View | |||
| } | |||
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| // Logging Functions | |||
| void Write_AttitudeView(const Vector3f &targets) const; | |||
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random whitespace change
| @@ -53,14 +54,15 @@ void AP_AHRS::Write_Attitude(const Vector3f &targets) const | |||
| { | |||
| const struct log_Attitude pkt{ | |||
| LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG), | |||
| time_us : AP_HAL::micros64(), | |||
| time_us : AP::scheduler().get_loop_start_time_us(), | |||
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This introduces a coupling between AHRS and the scheduler.
We merged a change to use the sample time in the rate message - this uses a different pattern where we don't pass that timestamp in...
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Resolution at DevCall is that we'll create an Which I think means we want to close this! |
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we decided to create an ANG message in AC_AttitudeControl instead |
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Closing this one as we're going with |
When interpreting rate and attitude control logs it is important to be able to correlate the log message with when the data was captured rather than when the log was written. This is especially important as we increase the frequency of the rate loop and make it asynchronous. This small change adds the ability to capture the sample time from the scheduler and then uses that in the attitude log message.
Split from #27029