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https://github.com/PX4/PX4-Autopilot.git
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b9c85cc2ea
Run() published heater_status at both GPIO edges, 200 Hz for a 100 Hz controller, and the default log profile recorded it at full rate. At 100 % duty the off phase ran with a zero delay, so the element was switched off and back on every period and heater_on read false for that instant. heater_current and supply_voltage were battery_status.current_a and voltage_v, already logged there, and nominal_multiplier read 0 unless HEATERn_NOM_V compensation was active. The off phase no longer publishes and is skipped at full duty; the status goes out once per controller cycle with heater_on meaning the element is driven this period. The two battery fields are removed (the voltage is still read for the V_nom compensation), nominal_multiplier is 1 when no scaling is applied, and heater_status is logged at 1 Hz by default. Assisted-by: Claude:claude-fable-5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
28 lines
713 B
Plaintext
28 lines
713 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint32 device_id
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bool heater_on # element driven this control period (controller_time_on_usec > 0)
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bool temperature_target_met
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bool temperature_activation_threshold_met
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float32 temperature_sensor
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float32 temperature_target
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uint32 controller_period_usec
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uint32 controller_time_on_usec
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float32 proportional_value
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float32 integrator_value
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float32 feed_forward_value
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float32 nominal_multiplier # duty scaling from HEATERn_NOM_V: (V_nom/V)^2 above V_nom, 1 without compensation, 0 without battery data
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uint8 MODE_GPIO = 1
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uint8 MODE_PX4IO = 2
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uint8 mode
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uint8 TEMPERATURE_SOURCE_IMU = 0
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uint8 TEMPERATURE_SOURCE_HYGRO = 1
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uint8 temperature_source
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