Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: add MOTB logging at 10hz

This commit is contained in:
Iampete1 2021-12-21 21:26:28 +00:00 committed by Andrew Tridgell
parent 86578d5cec
commit 32488a5e3a
1 changed files with 2 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
ArduPlane/quadplane.cpp
View File

@ -1745,10 +1745,11 @@ void QuadPlane::update(void)
// log RATE at main loop rate
ahrs_view->Write_Rate(*motors, *attitude_control, *pos_control);
// log CTRL at 10 Hz
// log CTRL and MOTB at 10 Hz
if (now - last_ctrl_log_ms > 100) {
last_ctrl_log_ms = now;
attitude_control->control_monitor_log();
motors->Log_Write();
}
}
// log QTUN at 25 Hz if motors are active, or have been active in the last quarter second