From 27078bccda0c1f0f227e5a424de1452ddca7383d Mon Sep 17 00:00:00 2001 From: Samuel Tabor Date: Wed, 6 Nov 2019 08:59:50 -0500 Subject: [PATCH] AP_TECS: Log input height demands. --- libraries/AP_TECS/AP_TECS.cpp | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp index b030471a33..bbd463518d 100644 --- a/libraries/AP_TECS/AP_TECS.cpp +++ b/libraries/AP_TECS/AP_TECS.cpp @@ -1222,15 +1222,19 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm, // @Field: PErr: difference between estimated potential energy and desired potential energy // @Field: EDelta: current error in speed/balance weighting // @Field: LF: aerodynamic load factor - AP::logger().WriteStreaming("TEC2", "TimeUS,pmax,pmin,KErr,PErr,EDelta,LF", - "s------", - "F------", - "Qffffff", + // @Field: hdem1: demanded height input + // @Field: hdem2: rate-limited height demand + AP::logger().WriteStreaming("TEC2", "TimeUS,pmax,pmin,KErr,PErr,EDelta,LF,hdem1,hdem2", + "s------mm", + "F--------", + "Qffffffff", now, (double)degrees(_PITCHmaxf), (double)degrees(_PITCHminf), (double)logging.SKE_error, (double)logging.SPE_error, (double)logging.SEB_delta, - (double)load_factor); + (double)load_factor, + (double)hgt_dem_cm*0.01, + (double)_hgt_dem); }