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added extra gain logging

This commit is contained in:
Jason Short 2012-02-16 22:08:19 -08:00
parent cbe297b634
commit 75919436ac
1 changed files with 16 additions and 4 deletions
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20
ArduCopter/system.pde
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@ -327,10 +327,22 @@ static void init_ardupilot()
#if LOGGING_ENABLED == ENABLED #if LOGGING_ENABLED == ENABLED
Log_Write_Startup(); Log_Write_Startup();
Log_Write_Data(10, g.pi_stabilize_roll.kP()); Log_Write_Data(10, (float)g.pi_stabilize_roll.kP());
Log_Write_Data(11, g.pi_stabilize_pitch.kP()); Log_Write_Data(11, (float)g.pi_stabilize_roll.kI());
Log_Write_Data(12, g.pid_rate_roll.kP());
Log_Write_Data(13, g.pid_rate_pitch.kP()); Log_Write_Data(12, (float)g.pid_rate_roll.kP());
Log_Write_Data(13, (float)g.pid_rate_roll.kI());
Log_Write_Data(14, (float)g.pid_rate_roll.kD());
Log_Write_Data(15, (float)g.stabilize_d.get());
Log_Write_Data(16, (float)g.pi_loiter_lon.kP());
Log_Write_Data(17, (float)g.pi_loiter_lon.kI());
Log_Write_Data(18, (float)g.pid_nav_lon.kP());
Log_Write_Data(19, (float)g.pid_nav_lon.kI());
Log_Write_Data(20, (float)g.pid_nav_lon.kD());
Log_Write_Data(21, (int32_t)g.auto_slew_rate.get());
#endif #endif
SendDebug("\nReady to FLY "); SendDebug("\nReady to FLY ");