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AC_AttitudeControl: AC_PosControl: Update PSC logging to include desired

This commit is contained in:
lthall 2021-09-22 14:33:27 +09:30 committed by Andrew Tridgell
parent 455cea443b
commit 1e84144d33
1 changed files with 9 additions and 4 deletions
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13
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -1189,13 +1189,18 @@ void AC_PosControl::write_log()
if (is_active_xy()) {
float accel_x, accel_y;
lean_angles_to_accel_xy(accel_x, accel_y);
AP::logger().Write_PSC(get_pos_target_cm().tofloat(), _inav.get_position(), get_vel_target_cms(), _inav.get_velocity(), get_accel_target_cmss(), accel_x, accel_y);
AP::logger().Write_PSCN(get_pos_target_cm().x, _inav.get_position().x,
get_vel_desired_cms().x, get_vel_target_cms().x, _inav.get_velocity().x,
_accel_desired.x, get_accel_target_cmss().x, accel_x);
AP::logger().Write_PSCE(get_pos_target_cm().y, _inav.get_position().y,
get_vel_desired_cms().y, get_vel_target_cms().y, _inav.get_velocity().y,
_accel_desired.y, get_accel_target_cmss().y, accel_y);
}
if (is_active_z()) {
AP::logger().Write_PSCZ(get_pos_target_cm().z, _inav.get_position().z,
get_vel_desired_cms().z, get_vel_target_cms().z, _inav.get_velocity().z,
_accel_desired.z, get_accel_target_cmss().z, get_z_accel_cmss(), _attitude_control.get_throttle_in());
AP::logger().Write_PSCD(-get_pos_target_cm().z, -_inav.get_position().z,
-get_vel_desired_cms().z, -get_vel_target_cms().z, -_inav.get_velocity().z,
-_accel_desired.z, -get_accel_target_cmss().z, -get_z_accel_cmss());
}
}