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Rover: logging for direct-rotation sail mast output

This commit is contained in:
Ari Krupnik 2021-04-28 13:18:45 -05:00 committed by Peter Hall
parent 8544d00c97
commit 9b88823ce6
1 changed files with 4 additions and 2 deletions
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6
Rover/Log.cpp
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@ -154,15 +154,17 @@ void Rover::Log_Write_Sail()
// @Field: TackThr: Apparent wind angle used for tack threshold
// @Field: MainOut: Normalized mainsail output
// @Field: WingOut: Normalized wingsail output
// @Field: MastRotOut: Normalized direct-rotation mast output
// @Field: VMG: Velocity made good (speed at which vehicle is making progress directly towards destination)
logger.Write("SAIL", "TimeUS,Tack,TackThr,MainOut,WingOut,VMG",
"s-d%%n", "F00000", "QBffff",
logger.Write("SAIL", "TimeUS,Tack,TackThr,MainOut,WingOut,MastRotOut,VMG",
"s-d%%%n", "F000000", "QBfffff",
AP_HAL::micros64(),
current_tack,
(double)wind_dir_tack,
(double)g2.motors.get_mainsail(),
(double)g2.motors.get_wingsail(),
(double)g2.motors.get_mast_rotation(),
(double)g2.sailboat.get_VMG());
}