From 6000bb0c324689a0b82d9b8d0fb1bc50b6528cf3 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sun, 24 May 2015 12:20:32 +1000 Subject: [PATCH] AC_PID: log desired rate for VFF as well as AFF --- libraries/AC_PID/AC_HELI_PID.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/libraries/AC_PID/AC_HELI_PID.cpp b/libraries/AC_PID/AC_HELI_PID.cpp index 339dc00bfb..05bf8b453e 100644 --- a/libraries/AC_PID/AC_HELI_PID.cpp +++ b/libraries/AC_PID/AC_HELI_PID.cpp @@ -56,6 +56,7 @@ AC_HELI_PID::AC_HELI_PID(float initial_p, float initial_i, float initial_d, floa float AC_HELI_PID::get_vff(float requested_rate) { _pid_info.FF = (float)requested_rate * _vff; + _pid_info.desired = requested_rate; return _pid_info.FF; }