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Plane: Fix not logging quadplane control, and over logging attitude control

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Michael du Breuil 2019-02-20 16:39:33 -07:00 committed by Andrew Tridgell
parent 17d804f051
commit 25a2c77782
1 changed files with 2 additions and 1 deletions
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3
ArduPlane/quadplane.cpp
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@ -1670,11 +1670,12 @@ void QuadPlane::motors_output(bool run_rate_controller)
check_throttle_suppression();
motors->output();
if (motors->armed() && motors->get_throttle() > 0) {
if (motors->armed() && motors->get_spool_mode() != AP_Motors::spool_up_down_mode::SHUT_DOWN) {
plane.logger.Write_Rate(ahrs_view, *motors, *attitude_control, *pos_control);
Log_Write_QControl_Tuning();
const uint32_t now = AP_HAL::millis();
if (now - last_ctrl_log_ms > 100) {
last_ctrl_log_ms = now;
attitude_control->control_monitor_log();
}
}