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Plane: log ANG attitude message

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Andy Piper 2024-09-10 11:56:49 +01:00 committed by Andrew Tridgell
parent 505d05d5f8
commit 2e194383d2
1 changed files with 4 additions and 0 deletions
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4
ArduPlane/quadplane.cpp
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@ -1772,6 +1772,10 @@ void QuadPlane::update(void)
if (motors->armed()) {
const bool motors_active = in_vtol_mode() || assisted_flight;
if (motors_active && (motors->get_spool_state() != AP_Motors::SpoolState::SHUT_DOWN)) {
// log ANG at main loop rate
if (show_vtol_view()) {
attitude_control->Write_ANG();
}
// log RATE at main loop rate
attitude_control->Write_Rate(*pos_control);