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Plane: log PIDs during QAUTOTUNE twitch

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This commit is contained in:
Andrew Tridgell 2018-12-22 13:26:31 +11:00
parent e279fde505
commit 7939f3488b
2 changed files with 9 additions and 0 deletions
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8
ArduPlane/qautotune.cpp
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@ -61,5 +61,13 @@ void QAutoTune::Log_Write_Event(enum at_event id)
ev_id); ev_id);
} }
// log VTOL PIDs for during twitch
void QAutoTune::log_pids(void)
{
DataFlash_Class::instance()->Log_Write_PID(LOG_PIQR_MSG, plane.quadplane.attitude_control->get_rate_roll_pid().get_pid_info());
DataFlash_Class::instance()->Log_Write_PID(LOG_PIQP_MSG, plane.quadplane.attitude_control->get_rate_pitch_pid().get_pid_info());
DataFlash_Class::instance()->Log_Write_PID(LOG_PIQY_MSG, plane.quadplane.attitude_control->get_rate_yaw_pid().get_pid_info());
}
#endif // QAUTOTUNE_ENABLED #endif // QAUTOTUNE_ENABLED

1
ArduPlane/qautotune.h
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@ -24,6 +24,7 @@ protected:
void get_pilot_desired_rp_yrate_cd(int32_t &roll_cd, int32_t &pitch_cd, int32_t &yaw_rate_cds) override; void get_pilot_desired_rp_yrate_cd(int32_t &roll_cd, int32_t &pitch_cd, int32_t &yaw_rate_cds) override;
void init_z_limits() override; void init_z_limits() override;
void Log_Write_Event(enum at_event id) override; void Log_Write_Event(enum at_event id) override;
void log_pids() override;
}; };
#endif // QAUTOTUNE_ENABLED #endif // QAUTOTUNE_ENABLED