fix(configuration sequence): log the EKF primary IMU - #1860
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Updates the ArduCopter configuration sequence to log the EKF’s primary IMU by deriving the batch logging mask from EK3_PRIMARY.
Changes:
- Derive
INS_LOG_BAT_MASKfromEK3_PRIMARYfor configurations that enable batch logging (e.g., F4/big props path). - Derive
INS_LOG_BAT_MASKfromEK3_PRIMARYfor PID notch filter tuning steps (instead of forcing a fixed mask).
| }, | ||
| "derived_parameters": { | ||
| "INS_LOG_BAT_MASK": { "New Value": "1 if 'F4' in vehicle_components['Flight Controller']['Specifications']['MCU Series'] or vehicle_components['Propellers']['Specifications']['Diameter_inches'] >= 15 else 0", "Change Reason": "Use acc and gyro batch logging on F4 processors or big props, gyro raw logging on others" }, | ||
| "INS_LOG_BAT_MASK": { "New Value": "2**fc_parameters['EK3_PRIMARY'] if 'F4' in vehicle_components['Flight Controller']['Specifications']['MCU Series'] or vehicle_components['Propellers']['Specifications']['Diameter_inches'] >= 15 else 0", "Change Reason": "Use acc and gyro batch logging on F4 processors or big props, gyro raw logging on others" }, |
| "LOG_BITMASK": { "New Value": 407517, "Change Reason": "Log relevant data for PID notch filters tuning. Later on we'll change this to other subsystems" } | ||
| }, | ||
| "derived_parameters": { | ||
| "INS_LOG_BAT_MASK": { "New Value": "2**fc_parameters['EK3_PRIMARY']", "Change Reason": "PID notch filters require batch logging, not raw logging" } |
| }, | ||
| "derived_parameters": { | ||
| "INS_LOG_BAT_MASK": { "New Value": "1 if 'F4' in vehicle_components['Flight Controller']['Specifications']['MCU Series'] or vehicle_components['Propellers']['Specifications']['Diameter_inches'] >= 15 else 0", "Change Reason": "Use acc and gyro batch logging on F4 processors or big props, gyro raw logging on others" }, | ||
| "INS_LOG_BAT_MASK": { "New Value": "2**fc_parameters['EK3_PRIMARY'] if 'F4' in vehicle_components['Flight Controller']['Specifications']['MCU Series'] or vehicle_components['Propellers']['Specifications']['Diameter_inches'] >= 15 else 0", "Change Reason": "Use acc and gyro batch logging on F4 processors or big props, gyro raw logging on others" }, |
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Description
log the EKF primary IMU
Checklist
git commit --signoff)Testing
Describe how you tested these changes: