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ACM: Added simple mode bearing logging for bug hunting

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This commit is contained in:
Jason Short 2012-10-27 14:17:26 -07:00
parent d70553bece
commit 0a68468610
2 changed files with 5 additions and 0 deletions
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1
ArduCopter/ArduCopter.pde
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@ -1356,6 +1356,7 @@ static void slow_loop()
if(motors.armed()) { if(motors.armed()) {
if (g.log_bitmask & MASK_LOG_ITERM) if (g.log_bitmask & MASK_LOG_ITERM)
Log_Write_Iterm(); Log_Write_Iterm();
Log_Write_Data(30, initial_simple_bearing);
}else{ }else{
// check the user hasn't updated the frame orientation // check the user hasn't updated the frame orientation
motors.set_frame_orientation(g.frame_orientation); motors.set_frame_orientation(g.frame_orientation);

4
ArduCopter/system.pde
View File

@ -320,6 +320,7 @@ static void init_ardupilot()
#endif #endif
/////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////
// Experimental AP_Limits library - set constraints, limits, fences, minima, maxima on various parameters // Experimental AP_Limits library - set constraints, limits, fences, minima, maxima on various parameters
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
@ -394,6 +395,8 @@ static void startup_ground(void)
static void set_mode(byte mode) static void set_mode(byte mode)
{ {
Log_Write_Data(31, initial_simple_bearing);
// if we don't have GPS lock // if we don't have GPS lock
if(home_is_set == false) { if(home_is_set == false) {
// THOR // THOR
@ -575,6 +578,7 @@ static void set_mode(byte mode)
} }
Log_Write_Mode(control_mode); Log_Write_Mode(control_mode);
Log_Write_Data(32, initial_simple_bearing);
} }
static void set_failsafe(boolean mode) static void set_failsafe(boolean mode)