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recording nav_bearing rather than target bearing 

recording x and y speed rather than Iterms for nav since they are always 0 now
This commit is contained in:
Jason Short 2012-01-21 22:10:28 -08:00
parent 14a8d8a471
commit 8bd6cabdf1
1 changed files with 15 additions and 3 deletions
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18
ArduCopter/Log.pde
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@ -528,16 +528,28 @@ static void Log_Write_Nav_Tuning()
DataFlash.WriteByte(LOG_NAV_TUNING_MSG);
DataFlash.WriteInt(wp_distance); // 1
DataFlash.WriteInt(target_bearing/100); // 2
DataFlash.WriteInt(nav_bearing/100); // 2
DataFlash.WriteInt(long_error); // 3
DataFlash.WriteInt(lat_error); // 4
DataFlash.WriteInt(nav_lon); // 5
DataFlash.WriteInt(nav_lat); // 6
DataFlash.WriteInt(g.pi_nav_lon.get_integrator()); // 7
DataFlash.WriteInt(g.pi_nav_lat.get_integrator()); // 8
DataFlash.WriteInt(x_actual_speed); // 7
DataFlash.WriteInt(y_actual_speed); // 8
DataFlash.WriteInt(g.pi_loiter_lon.get_integrator()); // 9
DataFlash.WriteInt(g.pi_loiter_lat.get_integrator()); // 10
/*DataFlash.WriteInt(wp_distance); // 1
DataFlash.WriteInt(nav_bearing/100); // 2
DataFlash.WriteInt(my_max_speed); // 3
DataFlash.WriteInt(long_error); // 4
DataFlash.WriteInt(x_actual_speed); // 5
DataFlash.WriteInt(target_x_rate); // 6
DataFlash.WriteInt(x_rate_error); // 7
DataFlash.WriteInt(nav_lon_p); // 8
DataFlash.WriteInt(g.pi_loiter_lon.get_integrator()); // 9
DataFlash.WriteInt(nav_lon); // 10
*/
DataFlash.WriteByte(END_BYTE);
}