From 8bd6cabdf1b11735f1b7d73d64403846158d0768 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Sat, 21 Jan 2012 22:10:28 -0800 Subject: [PATCH] recording nav_bearing rather than target bearing recording x and y speed rather than Iterms for nav since they are always 0 now --- ArduCopter/Log.pde | 18 +++++++++++++++--- 1 file changed, 15 insertions(+), 3 deletions(-) diff --git a/ArduCopter/Log.pde b/ArduCopter/Log.pde index 57b2136ff0..090e2b3501 100644 --- a/ArduCopter/Log.pde +++ b/ArduCopter/Log.pde @@ -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); }