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Sub: log ANG attitude message

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Andy Piper 2024-09-10 11:57:08 +01:00 committed by Andrew Tridgell
parent 2e194383d2
commit 3bbf4e6b33
1 changed files with 2 additions and 0 deletions
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2
ArduSub/ArduSub.cpp
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@ -183,6 +183,7 @@ void Sub::ten_hz_logging_loop()
// log attitude data if we're not already logging at the higher rate // log attitude data if we're not already logging at the higher rate
if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) { if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) {
Log_Write_Attitude(); Log_Write_Attitude();
attitude_control.Write_ANG();
attitude_control.Write_Rate(pos_control); attitude_control.Write_Rate(pos_control);
if (should_log(MASK_LOG_PID)) { if (should_log(MASK_LOG_PID)) {
logger.Write_PID(LOG_PIDR_MSG, attitude_control.get_rate_roll_pid().get_pid_info()); logger.Write_PID(LOG_PIDR_MSG, attitude_control.get_rate_roll_pid().get_pid_info());
@ -222,6 +223,7 @@ void Sub::twentyfive_hz_logging()
{ {
if (should_log(MASK_LOG_ATTITUDE_FAST)) { if (should_log(MASK_LOG_ATTITUDE_FAST)) {
Log_Write_Attitude(); Log_Write_Attitude();
attitude_control.Write_ANG();
attitude_control.Write_Rate(pos_control); attitude_control.Write_Rate(pos_control);
if (should_log(MASK_LOG_PID)) { if (should_log(MASK_LOG_PID)) {
logger.Write_PID(LOG_PIDR_MSG, attitude_control.get_rate_roll_pid().get_pid_info()); logger.Write_PID(LOG_PIDR_MSG, attitude_control.get_rate_roll_pid().get_pid_info());