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Plane: added copter RATE logging for quadplane

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This commit is contained in:
Andrew Tridgell 2016-03-25 12:11:56 +11:00
parent 31000ac756
commit 0a199945a2
2 changed files with 14 additions and 4 deletions
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15
ArduPlane/quadplane.cpp
View File

@ -837,7 +837,7 @@ void QuadPlane::update_transition(void)
assisted_flight = true; assisted_flight = true;
hold_hover(assist_climb_rate_cms()); hold_hover(assist_climb_rate_cms());
attitude_control->rate_controller_run(); attitude_control->rate_controller_run();
motors->output(); motors_output();
last_throttle = motors->get_throttle(); last_throttle = motors->get_throttle();
break; break;
} }
@ -856,7 +856,7 @@ void QuadPlane::update_transition(void)
assisted_flight = true; assisted_flight = true;
hold_stabilize(throttle_scaled); hold_stabilize(throttle_scaled);
attitude_control->rate_controller_run(); attitude_control->rate_controller_run();
motors->output(); motors_output();
break; break;
} }
@ -889,7 +889,7 @@ void QuadPlane::update(void)
attitude_control->rate_controller_run(); attitude_control->rate_controller_run();
// output to motors // output to motors
motors->output(); motors_output();
transition_start_ms = 0; transition_start_ms = 0;
if (throttle_wait && !plane.is_flying()) { if (throttle_wait && !plane.is_flying()) {
transition_state = TRANSITION_DONE; transition_state = TRANSITION_DONE;
@ -908,6 +908,15 @@ void QuadPlane::update(void)
} }
} }
/*
output motors and do any copter needed
*/
void QuadPlane::motors_output(void)
{
motors->output();
plane.DataFlash.Log_Write_Rate(plane.ahrs, *motors, *attitude_control, *pos_control);
}
/* /*
update control mode for quadplane modes update control mode for quadplane modes
*/ */

3
ArduPlane/quadplane.h
View File

@ -128,7 +128,8 @@ private:
float desired_auto_yaw_rate_cds(void); float desired_auto_yaw_rate_cds(void);
bool should_relax(void); bool should_relax(void);
void motors_output(void);
// setup correct aux channels for frame class // setup correct aux channels for frame class
void setup_default_channels(uint8_t num_motors); void setup_default_channels(uint8_t num_motors);