From 8e582b416966b52783b82803464e71d4486c6a6a Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Mon, 28 Nov 2011 10:26:36 -0800
Subject: [PATCH] Logging input to find this freeze bug

---
 ArduCopter/Log.pde | 42 ++++++++++++++++--------------------------
 1 file changed, 16 insertions(+), 26 deletions(-)

diff --git a/ArduCopter/Log.pde b/ArduCopter/Log.pde
index 31a7a9fd57..b88c1da507 100644
--- a/ArduCopter/Log.pde
+++ b/ArduCopter/Log.pde
@@ -724,30 +724,20 @@ static void Log_Write_Control_Tuning()
 	DataFlash.WriteByte(HEAD_BYTE2);
 	DataFlash.WriteByte(LOG_CONTROL_TUNING_MSG);
 
-	// yaw
-	DataFlash.WriteInt(dcm.yaw_sensor/100);				//1
-	DataFlash.WriteInt(nav_yaw/100);					//2
-	DataFlash.WriteInt(yaw_error/100);					//3
-
-	// Alt hold
-	DataFlash.WriteInt(sonar_alt);						//4
-	DataFlash.WriteInt(baro_alt);						//5
-	DataFlash.WriteInt(next_WP.alt);					//6
-
-	DataFlash.WriteInt(nav_throttle);					//7
-	DataFlash.WriteInt(angle_boost);					//8
-	DataFlash.WriteInt(manual_boost);					//9
-	DataFlash.WriteInt(climb_rate);						//10
-
-#if HIL_MODE == HIL_MODE_ATTITUDE
-	DataFlash.WriteInt(0);								//11
-#else
-	DataFlash.WriteInt((int)(barometer.RawPress - barometer._offset_press));//11
-#endif
-
-	DataFlash.WriteInt(g.rc_3.servo_out);				//12
-	DataFlash.WriteInt(g.pi_alt_hold.get_integrator());	//13
-	DataFlash.WriteInt(g.pi_throttle.get_integrator());	//14
+	DataFlash.WriteInt(g.rc_1.control_in);				// 0
+	DataFlash.WriteInt(g.rc_2.control_in);				// 1
+	DataFlash.WriteInt(g.rc_3.control_in);				// 2
+	DataFlash.WriteInt(g.rc_4.control_in);				// 3
+	DataFlash.WriteInt(sonar_alt);						// 4
+	DataFlash.WriteInt(baro_alt);						// 5
+	DataFlash.WriteInt(next_WP.alt);					// 6
+	DataFlash.WriteInt(nav_throttle);					// 7
+	DataFlash.WriteInt(angle_boost);					// 8
+	DataFlash.WriteInt(manual_boost);					// 9
+	DataFlash.WriteInt(climb_rate);						// 10
+	DataFlash.WriteInt(g.rc_3.servo_out);				// 11
+	DataFlash.WriteInt(g.pi_alt_hold.get_integrator());	// 12
+	DataFlash.WriteInt(g.pi_throttle.get_integrator());	// 13
 
 	DataFlash.WriteByte(END_BYTE);
 }
@@ -759,11 +749,11 @@ static void Log_Read_Control_Tuning()
 
 	Serial.printf_P(PSTR("CTUN, "));
 
-	for(int8_t i = 1; i < 14; i++ ){
+	for(int8_t i = 0; i < 13; i++ ){
 		temp = DataFlash.ReadInt();
 		Serial.printf("%d, ", temp);
 	}
-
+	// read 13
 	temp = DataFlash.ReadInt();
 	Serial.printf("%d\n", temp);
 }