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Logging input to find this freeze bug

This commit is contained in:
Jason Short 2011-11-28 10:26:36 -08:00
parent d4a9808a61
commit 8e582b4169
1 changed files with 16 additions and 26 deletions
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28
ArduCopter/Log.pde
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@ -724,30 +724,20 @@ static void Log_Write_Control_Tuning()
DataFlash.WriteByte(HEAD_BYTE2); DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_CONTROL_TUNING_MSG); DataFlash.WriteByte(LOG_CONTROL_TUNING_MSG);
// yaw DataFlash.WriteInt(g.rc_1.control_in); // 0
DataFlash.WriteInt(dcm.yaw_sensor/100); //1 DataFlash.WriteInt(g.rc_2.control_in); // 1
DataFlash.WriteInt(nav_yaw/100); //2 DataFlash.WriteInt(g.rc_3.control_in); // 2
DataFlash.WriteInt(yaw_error/100); //3 DataFlash.WriteInt(g.rc_4.control_in); // 3
// Alt hold
DataFlash.WriteInt(sonar_alt); // 4 DataFlash.WriteInt(sonar_alt); // 4
DataFlash.WriteInt(baro_alt); // 5 DataFlash.WriteInt(baro_alt); // 5
DataFlash.WriteInt(next_WP.alt); // 6 DataFlash.WriteInt(next_WP.alt); // 6
DataFlash.WriteInt(nav_throttle); // 7 DataFlash.WriteInt(nav_throttle); // 7
DataFlash.WriteInt(angle_boost); // 8 DataFlash.WriteInt(angle_boost); // 8
DataFlash.WriteInt(manual_boost); // 9 DataFlash.WriteInt(manual_boost); // 9
DataFlash.WriteInt(climb_rate); // 10 DataFlash.WriteInt(climb_rate); // 10
DataFlash.WriteInt(g.rc_3.servo_out); // 11
#if HIL_MODE == HIL_MODE_ATTITUDE DataFlash.WriteInt(g.pi_alt_hold.get_integrator()); // 12
DataFlash.WriteInt(0); //11 DataFlash.WriteInt(g.pi_throttle.get_integrator()); // 13
#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.WriteByte(END_BYTE); DataFlash.WriteByte(END_BYTE);
} }
@ -759,11 +749,11 @@ static void Log_Read_Control_Tuning()
Serial.printf_P(PSTR("CTUN, ")); Serial.printf_P(PSTR("CTUN, "));
for(int8_t i = 1; i < 14; i++ ){ for(int8_t i = 0; i < 13; i++ ){
temp = DataFlash.ReadInt(); temp = DataFlash.ReadInt();
Serial.printf("%d, ", temp); Serial.printf("%d, ", temp);
} }
// read 13
temp = DataFlash.ReadInt(); temp = DataFlash.ReadInt();
Serial.printf("%d\n", temp); Serial.printf("%d\n", temp);
} }