From 00d5ad9343075d19a96602ec8819e6589c5e6164 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Sun, 26 Feb 2012 11:13:28 -0800
Subject: [PATCH] Added more Logging for PIDs.

---
 ArduCopter/system.pde | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index d3560a4314..db35cae76c 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -343,6 +343,10 @@ static void init_ardupilot()
 	Log_Write_Data(20, (float)g.pid_nav_lon.kD());
 
 	Log_Write_Data(21, (int32_t)g.auto_slew_rate.get());
+
+	Log_Write_Data(22, (float)g.pid_loiter_rate_lon.kP());
+	Log_Write_Data(23, (float)g.pid_loiter_rate_lon.kI());
+	Log_Write_Data(24, (float)g.pid_loiter_rate_lon.kD());
 #endif
 
 	SendDebug("\nReady to FLY ");