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Plane: quadplane: log postition controller PIDs

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Peter Hall 2021-11-19 21:14:55 +00:00 committed by Andrew Tridgell
parent e7f1a273e5
commit 151ef760a4
1 changed files with 4 additions and 0 deletions
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4
ArduPlane/Log.cpp
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@ -30,6 +30,10 @@ void Plane::Log_Write_Attitude(void)
logger.Write_PID(LOG_PIQY_MSG, quadplane.attitude_control->get_rate_yaw_pid().get_pid_info());
logger.Write_PID(LOG_PIQA_MSG, quadplane.pos_control->get_accel_z_pid().get_pid_info() );
}
if (quadplane.in_vtol_mode() && quadplane.pos_control->is_active_xy()) {
logger.Write_PID(LOG_PIDN_MSG, quadplane.pos_control->get_vel_xy_pid().get_pid_info_x());
logger.Write_PID(LOG_PIDE_MSG, quadplane.pos_control->get_vel_xy_pid().get_pid_info_y());
}
#endif
logger.Write_PID(LOG_PIDR_MSG, rollController.get_pid_info());