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HIL: enable CTUN log message in ATTITUDE HIL

This commit is contained in:
Andrew Tridgell 2011-11-08 07:53:41 +11:00
parent 92471aead2
commit 3176d4ffc5
2 changed files with 11 additions and 11 deletions
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14
ArduCopter/ArduCopter.pde
View File

@ -691,15 +691,13 @@ static void medium_loop()
update_commands();
}
#if HIL_MODE != HIL_MODE_ATTITUDE
if(motor_armed){
if (g.log_bitmask & MASK_LOG_ATTITUDE_MED)
Log_Write_Attitude();
if(motor_armed){
if (g.log_bitmask & MASK_LOG_ATTITUDE_MED)
Log_Write_Attitude();
if (g.log_bitmask & MASK_LOG_CTUN)
Log_Write_Control_Tuning();
}
#endif
if (g.log_bitmask & MASK_LOG_CTUN)
Log_Write_Control_Tuning();
}
// send all requested output streams with rates requested
// between 5 and 45 Hz

8
ArduCopter/Log.pde
View File

@ -641,7 +641,6 @@ static void Log_Read_Nav_Tuning()
// Write a control tuning packet. Total length : 22 bytes
#if HIL_MODE != HIL_MODE_ATTITUDE
static void Log_Write_Control_Tuning()
{
DataFlash.WriteByte(HEAD_BYTE1);
@ -662,8 +661,12 @@ static void Log_Write_Control_Tuning()
DataFlash.WriteInt(angle_boost); //8
DataFlash.WriteInt(manual_boost); //9
//DataFlash.WriteInt((int)(accels_rot.z * 1000)); //10
DataFlash.WriteInt((int)(barometer.RawPress - barometer._offset_press)); //9
#if HIL_MODE == HIL_MODE_ATTITUDE
DataFlash.WriteInt(0);
#else
DataFlash.WriteInt((int)(barometer.RawPress - barometer._offset_press)); //9
#endif
DataFlash.WriteInt(g.rc_3.servo_out); //11
DataFlash.WriteInt((int)g.pi_alt_hold.get_integrator()); //12
@ -671,7 +674,6 @@ static void Log_Write_Control_Tuning()
DataFlash.WriteByte(END_BYTE);
}
#endif
// Read an control tuning packet
static void Log_Read_Control_Tuning()