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AHRS: RATE log: add missing ff terms

This commit is contained in:
Iampete1 2021-12-08 22:42:01 +00:00 committed by Randy Mackay
parent 8aa4a802f3
commit 9cace37b03
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_AHRS/AP_AHRS_Logging.cpp
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@ -127,13 +127,13 @@ void AP_AHRS_View::Write_Rate(const AP_Motors &motors, const AC_AttitudeControl
time_us : AP_HAL::micros64(),
control_roll : degrees(rate_targets.x),
roll : degrees(get_gyro().x),
roll_out : motors.get_roll(),
roll_out : motors.get_roll()+motors.get_roll_ff(),
control_pitch : degrees(rate_targets.y),
pitch : degrees(get_gyro().y),
pitch_out : motors.get_pitch(),
pitch_out : motors.get_pitch()+motors.get_pitch_ff(),
control_yaw : degrees(rate_targets.z),
yaw : degrees(get_gyro().z),
yaw_out : motors.get_yaw(),
yaw_out : motors.get_yaw()+motors.get_yaw_ff(),
control_accel : (float)accel_target.z,
accel : (float)(-(get_accel_ef_blended().z + GRAVITY_MSS) * 100.0f),
accel_out : motors.get_throttle()