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Copter: added logging of Z accel PID

This commit is contained in:
Andrew Tridgell 2015-05-24 16:08:30 +10:00
parent 8f34ed5b76
commit 08f8355dd0
1 changed files with 2 additions and 0 deletions
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2
ArduCopter/ArduCopter.pde
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@ -975,6 +975,7 @@ static void ten_hz_logging_loop()
DataFlash.Log_Write_PID(LOG_PIDR_MSG, g.pid_rate_roll.get_pid_info() );
DataFlash.Log_Write_PID(LOG_PIDP_MSG, g.pid_rate_pitch.get_pid_info() );
DataFlash.Log_Write_PID(LOG_PIDY_MSG, g.pid_rate_yaw.get_pid_info() );
DataFlash.Log_Write_PID(LOG_PIDA_MSG, g.pid_accel_z.get_pid_info() );
}
if (should_log(MASK_LOG_MOTBATT)) {
Log_Write_MotBatt();
@ -1006,6 +1007,7 @@ static void fifty_hz_logging_loop()
DataFlash.Log_Write_PID(LOG_PIDR_MSG, g.pid_rate_roll.get_pid_info() );
DataFlash.Log_Write_PID(LOG_PIDP_MSG, g.pid_rate_pitch.get_pid_info() );
DataFlash.Log_Write_PID(LOG_PIDY_MSG, g.pid_rate_yaw.get_pid_info() );
DataFlash.Log_Write_PID(LOG_PIDA_MSG, g.pid_accel_z.get_pid_info() );
}
// log IMU data if we're not already logging at the higher rate