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AR_PosControl: integrate PSC logging update 

Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
This commit is contained in:
Leonard Hall 2024-09-30 09:34:06 +09:00 committed by Randy Mackay
parent 399336f7ce
commit 4d116ceefe
1 changed files with 4 additions and 2 deletions
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6
libraries/APM_Control/AR_PosControl.cpp
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@ -389,7 +389,8 @@ void AR_PosControl::write_log()
Vector2f pos_target_2d_cm = get_pos_target().tofloat() * 100.0; Vector2f pos_target_2d_cm = get_pos_target().tofloat() * 100.0;
// reuse logging from AC_PosControl: // reuse logging from AC_PosControl:
AC_PosControl::Write_PSCN(pos_target_2d_cm.x, // position target AC_PosControl::Write_PSCN(0.0, // position desired
pos_target_2d_cm.x, // position target
curr_pos_NED.x * 100.0, // position curr_pos_NED.x * 100.0, // position
_vel_desired.x * 100.0, // desired velocity _vel_desired.x * 100.0, // desired velocity
_vel_target.x * 100.0, // target velocity _vel_target.x * 100.0, // target velocity
@ -397,7 +398,8 @@ void AR_PosControl::write_log()
_accel_desired.x * 100.0, // desired accel _accel_desired.x * 100.0, // desired accel
_accel_target.x * 100.0, // target accel _accel_target.x * 100.0, // target accel
curr_accel_NED.x); // accel curr_accel_NED.x); // accel
AC_PosControl::Write_PSCE(pos_target_2d_cm.y, // position target AC_PosControl::Write_PSCE(0.0, // position desired
pos_target_2d_cm.y, // position target
curr_pos_NED.y * 100.0, // position curr_pos_NED.y * 100.0, // position
_vel_desired.y * 100.0, // desired velocity _vel_desired.y * 100.0, // desired velocity
_vel_target.y * 100.0, // target velocity _vel_target.y * 100.0, // target velocity