From 0834e7ae9baf759ea9e773417596c3dd2af2afd9 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sat, 14 Jul 2018 14:37:24 +0900 Subject: [PATCH] AP_Follow: update FOLL log column names VelN is easier to understand than VelX Also minor formatting fix --- libraries/AP_Follow/AP_Follow.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AP_Follow/AP_Follow.cpp b/libraries/AP_Follow/AP_Follow.cpp index 6fdfa470b6..4d5f915a8d 100644 --- a/libraries/AP_Follow/AP_Follow.cpp +++ b/libraries/AP_Follow/AP_Follow.cpp @@ -269,7 +269,7 @@ void AP_Follow::handle_msg(const mavlink_message_t &msg) _target_location.lat = packet.lat; _target_location.lng = packet.lon; - + // select altitude source based on FOLL_ALT_TYPE param if (_alt_type == AP_FOLLOW_ALTITUDE_TYPE_RELATIVE) { // relative altitude @@ -304,7 +304,7 @@ void AP_Follow::handle_msg(const mavlink_message_t &msg) // log lead's estimated vs reported position DataFlash_Class::instance()->Log_Write("FOLL", - "TimeUS,Lat,Lon,Alt,VelX,VelY,VelZ,LatE,LonE,AltE", // labels + "TimeUS,Lat,Lon,Alt,VelN,VelE,VelD,LatE,LonE,AltE", // labels "sDUmnnnDUm", // units "F--B000--B", // mults "QLLifffLLi", // fmt @@ -342,7 +342,7 @@ bool AP_Follow::get_offsets_ned(Vector3f &offset) const { const Vector3f &off = _offset.get(); - // if offsets are zero or type if NED, simply return offset vector + // if offsets are zero or type is NED, simply return offset vector if (off.is_zero() || (_offset_type == AP_FOLLOW_OFFSET_TYPE_NED)) { offset = off; return true;