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Plane: fixed attitude logging for tailsitters

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Andrew Tridgell 2017-03-31 10:37:47 +11:00
parent 6c31a6982b
commit 6a90257d2a
1 changed files with 5 additions and 1 deletions
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6
ArduPlane/Log.cpp
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@ -162,7 +162,11 @@ void Plane::Log_Write_Attitude(void)
targets.y = nav_pitch_cd; targets.y = nav_pitch_cd;
targets.z = 0; //Plane does not have the concept of navyaw. This is a placeholder. targets.z = 0; //Plane does not have the concept of navyaw. This is a placeholder.
DataFlash.Log_Write_Attitude(ahrs, targets); if (quadplane.tailsitter_active()) {
DataFlash.Log_Write_AttitudeView(*quadplane.ahrs_view, targets);
} else {
DataFlash.Log_Write_Attitude(ahrs, targets);
}
if (quadplane.in_vtol_mode() || quadplane.in_assisted_flight()) { if (quadplane.in_vtol_mode() || quadplane.in_assisted_flight()) {
// log quadplane PIDs separately from fixed wing PIDs // log quadplane PIDs separately from fixed wing PIDs
DataFlash.Log_Write_PID(LOG_PIQR_MSG, quadplane.attitude_control->get_rate_roll_pid().get_pid_info()); DataFlash.Log_Write_PID(LOG_PIQR_MSG, quadplane.attitude_control->get_rate_roll_pid().get_pid_info());