AP_Scripting: add quadplane_log_rate.lua

libraries/AP_Scripting/applets/quadplane_log_rate.lua

@@ -0,0 +1,103 @@
+--[[
+    Quadplane log rate control
+
+    This script gives additional control over the logging parameters depending
+    on if the aircraft is in forward flight or in hover. This allows high rate
+    logging for control analysis in hover, and a much lower rate for forward
+    flight to save space on the SD card.
+
+    Parameters:
+
+    // @Param: Q_LOG_MASK_FF
+    // @DisplayName: Forward-flight log bitmask
+    // @Description: This value gets loaded into LOG_BITMASK when in forward flight.
+    // @Bitmask: 0:Fast Attitude,1:Medium Attitude,2:GPS,3:Performance,4:Control Tuning,5:Navigation Tuning,7:IMU,8:Mission Commands,9:Battery Monitor,10:Compass,11:TECS,12:Camera,13:RC Input-Output,14:Rangefinder,19:Raw IMU,20:Fullrate Attitude,21:Video Stabilization,22:Fullrate Notch
+    // @User: Advanced
+
+    // @Param: Q_LOG_MASK_HV
+    // @DisplayName: Hover log bitmask
+    // @Description: This value gets loaded into LOG_BITMASK when in hover.
+    // @Bitmask: 0:Fast Attitude,1:Medium Attitude,2:GPS,3:Performance,4:Control Tuning,5:Navigation Tuning,7:IMU,8:Mission Commands,9:Battery Monitor,10:Compass,11:TECS,12:Camera,13:RC Input-Output,14:Rangefinder,19:Raw IMU,20:Fullrate Attitude,21:Video Stabilization,22:Fullrate Notch
+    // @User: Advanced
+
+    // @Param: Q_LOG_RATEMAX_FF
+    // @DisplayName: Forward-flight log rate
+    // @Description: This value gets loaded into LOG_FILE_RATEMAX when in forward flight.
+    // @Units: Hz
+    // @Range: 0 1000
+    // @Increment: 0.1
+    // @User: Standard
+
+    // @Param: Q_LOG_RATEMAX_HV
+    // @DisplayName: Hover log rate
+    // @Description: This value gets loaded into LOG_FILE_RATEMAX when in hover.
+    // @Units: Hz
+    // @Range: 0 1000
+    // @Increment: 0.1
+    // @User: Standard
+  ]]
+
+-- Script initialization and parameter binding
+local SCRIPT_NAME = "Quadplane log rate control"
+local PARAM_TABLE_KEY = 63 -- Arbitrary, but must be unique among all scripts loaded
+local PARAM_TABLE_PREFIX = "Q_LOG_"
+local utilities = require("utilities")
+utilities.param_add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 6)
+
+-- New parameters
+local MASK_FF    = utilities.bind_add_param("MASK_FF",    0xFFFF)
+local MASK_HV    = utilities.bind_add_param("MASK_HV",    0xFFFF)
+local RATEMAX_FF = utilities.bind_add_param("RATEMAX_FF", 0)
+local RATEMAX_HV = utilities.bind_add_param("RATEMAX_HV", 0)
+
+-- Existing parameters
+local LOG_BITMASK      = utilities.bind_param("LOG_BITMASK")
+local LOG_FILE_RATEMAX = utilities.bind_param("LOG_FILE_RATEMAX")
+
+-- update function, called periodically
+local function update()
+    --[[
+    Update function, called periodically. Checks whether the aircraft is in
+    forward flight or in hover, and sets the max-rate and bitmask parameters
+    accordingly.
+    ]]
+
+    -- Get the current mode
+    local in_hover = quadplane:in_assisted_flight() or quadplane:in_vtol_mode()
+
+    -- Set the logging rate and bitmask according to the current mode
+    if in_hover then
+        local mask, ratemax = MASK_HV:get(), RATEMAX_HV:get()
+        if mask then
+            LOG_BITMASK:set(mask)
+        end
+        if ratemax then
+            LOG_FILE_RATEMAX:set(ratemax)
+        end
+    else
+        local mask, ratemax = MASK_FF:get(), RATEMAX_FF:get()
+        if mask then
+            LOG_BITMASK:set(mask)
+        end
+        if ratemax then
+            LOG_FILE_RATEMAX:set(ratemax)
+        end
+    end
+end
+
+-- Script is now loaded, print success message and start the protected loop
+gcs:send_text(6, SCRIPT_NAME .. string.format(" loaded"))
+local function protected_wrapper()
+    --[[
+    Wrapper around the update function to catch and handle errors, preventing
+    script termination.
+    --]]
+    local success, err = pcall(update)
+    if not success then
+        gcs:send_text(0, "Internal Error: " .. err)
+        return protected_wrapper, 10000 -- Retry after 10 seconds on error
+    end
+    return protected_wrapper, 200       -- Normal update rate at 5Hz
+end
+
+return protected_wrapper() -- Start the update loop

libraries/AP_Scripting/applets/quadplane_log_rate.md

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+# Quadplane Log Rate Control
+
+This Lua script for ArduPilot provides enhanced control over logging parameters
+based on whether the quadplane is in forward flight or hover mode. This allows
+for high-rate logging for detailed control analysis during hover and a lower
+rate during forward flight to conserve space on the SD card.
+
+This breaks out the existing `LOG_BITMASK` and `LOG_FILE_RATEMAX` parameters
+into two pairs: one for forward flight and one for hover. The script then
+automatically switches between the two pairs based on the current flight mode.
+
+## Parameters
+
+### Q_LOG_MASK_FF
+Loaded into `LOG_BITMASK` when in forward flight.
+
+### Q_LOG_MASK_HV
+Loaded into `LOG_BITMASK` when in hover.
+
+### Q_LOG_RATEMAX_FF
+Loaded into `LOG_FILE_RATEMAX` when in forward flight.
+
+### Q_LOG_RATEMAX_HV
+Loaded into `LOG_FILE_RATEMAX` when in hover.