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ACM: added nav_yaw to att logging 

Removed unnecessary casting
This commit is contained in:
Jason Short 2012-08-16 12:43:09 -07:00
parent 90ccb6f3ef
commit 0e7794336e
1 changed files with 15 additions and 17 deletions
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30
ArduCopter/Log.pde
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@ -760,8 +760,7 @@ static void Log_Write_Attitude()
DataFlash.WriteInt((int)ahrs.pitch_sensor); // 4 DataFlash.WriteInt((int)ahrs.pitch_sensor); // 4
DataFlash.WriteInt(g.rc_4.control_in); // 5 DataFlash.WriteInt(g.rc_4.control_in); // 5
DataFlash.WriteInt((uint16_t)ahrs.yaw_sensor); // 6 DataFlash.WriteInt((uint16_t)ahrs.yaw_sensor); // 6
DataFlash.WriteInt(0); // 7 (this used to be compass.heading) DataFlash.WriteInt((uint16_t)nav_yaw); // 7 (this used to be compass.heading)
DataFlash.WriteByte(END_BYTE); DataFlash.WriteByte(END_BYTE);
} }
@ -775,17 +774,16 @@ static void Log_Read_Attitude()
int16_t temp5 = DataFlash.ReadInt(); int16_t temp5 = DataFlash.ReadInt();
uint16_t temp6 = DataFlash.ReadInt(); uint16_t temp6 = DataFlash.ReadInt();
uint16_t temp7 = DataFlash.ReadInt(); uint16_t temp7 = DataFlash.ReadInt();
temp7 = wrap_360(temp7);
// 1 2 3 4 5 6 7 // 1 2 3 4 5 6 7
Serial.printf_P(PSTR("ATT, %d, %d, %d, %d, %d, %u, %u\n"), Serial.printf_P(PSTR("ATT, %d, %d, %d, %d, %d, %u, %u\n"),
(int)temp1, temp1,
(int)temp2, temp2,
(int)temp3, temp3,
(int)temp4, temp4,
(int)temp5, temp5,
(unsigned int)temp6, temp6,
(unsigned int)temp7); temp7);
} }
// Write a mode packet. Total length : 7 bytes // Write a mode packet. Total length : 7 bytes
@ -890,12 +888,12 @@ static void Log_Read_PID()
// 1 2 3 4 5 6 7 // 1 2 3 4 5 6 7
Serial.printf_P(PSTR("PID-%d, %ld, %ld, %ld, %ld, %ld, %4.4f\n"), Serial.printf_P(PSTR("PID-%d, %ld, %ld, %ld, %ld, %ld, %4.4f\n"),
(int)temp1, // pid id temp1, // pid id
(long)temp2, // error temp2, // error
(long)temp3, // p temp3, // p
(long)temp4, // i temp4, // i
(long)temp5, // d temp5, // d
(long)temp6, // output temp6, // output
temp7); // gain temp7); // gain
} }