wboayue / stable-flight / 38670048101

92%

Build Type

push

github

Committed by web-flow

Commit Message

Recorder: position and velocity columns; hover axis map in the tuning guide (#402)

Copter and tailsitter recordings gain horizontal position and ground
velocity, and the tailsitter tuning guide shows which body-frame column
each hover axis reads in.

## Change

- `CopterColumns` and `TailsitterColumns` add `north_m`, `east_m`,
`vel_north_mps` and `vel_east_mps` at the end of the row, on the frame
contract's north and east axes. Position is measured from the backend's
origin, not the arming point. These are for hover drift, wind (#387),
heading wobble (#383) and waypoint and touchdown positions (#345).
Existing columns keep their positions.
- `docs/tuning/tailsitter.md`:
  - The new columns and `view_heading` are added to the recording table.
- A table maps each hover axis to its columns. Rates, moments and
actuators are in the airplane body frame, so in hover: roll reads
`yaw_rate`/`moment_z` (differential thrust), pitch reads
`pitch_rate`/`moment_y` (elevons together), and yaw reads
`roll_rate`/`moment_x` (elevons apart).
- `stable-flight-sitl` CHANGELOG: the unreleased `CsvRecorder` entry
names the new columns for both sets.

## Verification

- New test `both_column_sets_record_horizontal_position_and_velocity`.
- The axis table was checked against the #343 eXplora recording,
`vt075.csv` (hover ticks within ±0.5 rad, correlation of each view
angle's rate with each body rate):

| | `roll_rate` | `pitch_rate` | `yaw_rate` |
|---|---|---|---|
| d `view_roll`/dt | 0.21 | 0.57 | **0.84** |
| d `view_pitch`/dt | 0.33 | **0.83** | 0.57 |
| d `view_heading`/dt | **−0.81** | −0.11 | −0.13 |

- `just lint`, `cargo test -p stable-flight-sitl`, and the RealFlight
examples build. No flight behavior changes.

Coverage Stats

8 of 8 new or added lines in 1 file covered. (100.0%)

1 existing line in 1 file now uncovered.

6567 of 7204 relevant lines covered (91.16%)

6.85 hits per line