1. Changed default yaw controller to be stable.

2. Switched to level 5 IMU filter
3. logging setpoints
4. Logging for up to 5 minutes
5. Also accounting for time spent during logging when calculating LOOP_TIME
6. Logging during manual mode now, too.

quad/src/quad_app/PID.h

@@ -21,7 +21,7 @@
 //#define YAW_ANGLE_KD 0.0f
 
 // when using units of radians
-#define YAW_ANGULAR_VELOCITY_KP 190.0f * 2292.0f//200.0f * 2292.0f
+#define YAW_ANGULAR_VELOCITY_KP 29700//200.0f * 2292.0f
 #define YAW_ANGULAR_VELOCITY_KI 0.0f
 #define YAW_ANGULAR_VELOCITY_KD 0.0f
 #define YAW_ANGLE_KP 2.6f

quad/src/quad_app/iic_utils.c

@@ -30,7 +30,7 @@ int iic0_mpu9150_start(){
 	// Set clock reference to Z Gyro
 	iic0_mpu9150_write(0x6B, 0x03);
 	// Configure Digital Low/High Pass filter
-	iic0_mpu9150_write(0x1A,0x06); // Level 6 low pass on gyroscope
+	iic0_mpu9150_write(0x1A,0x05); // Level 5 low pass on gyroscope
 
 	// Configure Gyro to 2000dps, Accel. to +/-8G
 	iic0_mpu9150_write(0x1B, 0x18);

quad/src/quad_app/log_data.c

@@ -112,6 +112,9 @@ void initialize_logging(log_t* log_struct, parameter_t* ps) {
 	addOutputToLog(log_struct, ps->vrpn_alt, CONST_VAL, m);
 	addOutputToLog(log_struct, ps->vrpn_pitch, CONST_VAL, rad);
 	addOutputToLog(log_struct, ps->vrpn_roll, CONST_VAL, rad);
+	addOutputToLog(log_struct, ps->x_set, CONST_VAL, m);
+	addOutputToLog(log_struct, ps->y_set, CONST_VAL, m);
+	addOutputToLog(log_struct, ps->alt_set, CONST_VAL, m);
 	addOutputToLog(log_struct, ps->mixer, MIXER_PWM0, pwm_val);
 	addOutputToLog(log_struct, ps->mixer, MIXER_PWM1, pwm_val);
 	addOutputToLog(log_struct, ps->mixer, MIXER_PWM2, pwm_val);

quad/src/quad_app/log_data.h

@@ -9,7 +9,7 @@
 #define LOG_DATA_H_
 #include "type_def.h"
 
-#define LOG_STARTING_SIZE 8192 //262144 // 2^18      32768  2^15
+#define LOG_STARTING_SIZE 60000 //262144 // 2^18      32768  2^15
 // Maximum number of block outputs you can record, and maximum number of block parameters to record
 #define MAX_LOG_NUM 50
 

quad/src/quad_app/quad_app.c

@@ -75,15 +75,12 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
 		// update the GUI
 		update_GUI(&(structs.log_struct));
 
-		// Processing of loop timer at the end of the control loop
-		timer_end_loop(&(structs.log_struct));
-
 		if (!this_kill_condition) {
+			// Log the data collected in this loop
+			log_data(&(structs.log_struct), &(structs.parameter_struct));
+
 			if(structs.user_defined_struct.flight_mode == AUTO_FLIGHT_MODE)
 			{
-				// Log the data collected in this loop
-				log_data(&(structs.log_struct), &(structs.parameter_struct));
-
 				static int loop_counter = 0;
 				loop_counter++;
 
@@ -113,6 +110,9 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
 		}
 
 		last_kill_condition = this_kill_condition;
+
+		// Processing of loop timer at the end of the control loop
+		timer_end_loop(&(structs.log_struct));
 	}
 
 	kill_motors(&(structs.hardware_struct.pwm_outputs));