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Plane: quadplane: double log QPOS state change

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Iampete1 2022-02-19 22:21:52 +00:00 committed by Randy Mackay
parent 4631392f31
commit 9f32204f15
1 changed files with 7 additions and 3 deletions
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10
ArduPlane/quadplane.cpp
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@ -2162,6 +2162,7 @@ void QuadPlane::log_QPOS(void)
*/ */
void QuadPlane::PosControlState::set_state(enum position_control_state s) void QuadPlane::PosControlState::set_state(enum position_control_state s)
{ {
const uint32_t now = AP_HAL::millis();
if (state != s) { if (state != s) {
auto &qp = plane.quadplane; auto &qp = plane.quadplane;
pilot_correction_done = false; pilot_correction_done = false;
@ -2183,14 +2184,17 @@ void QuadPlane::PosControlState::set_state(enum position_control_state s)
Vector2f rpos; Vector2f rpos;
last_pos_reset_ms = plane.ahrs.getLastPosNorthEastReset(rpos); last_pos_reset_ms = plane.ahrs.getLastPosNorthEastReset(rpos);
} }
// double log to capture the state change
qp.log_QPOS(); qp.log_QPOS();
state = s;
qp.log_QPOS();
last_log_ms = now;
} }
state = s; last_state_change_ms = now;
last_state_change_ms = AP_HAL::millis();
// we consider setting the state to be equivalent to running to // we consider setting the state to be equivalent to running to
// prevent code from overriding the state as stale // prevent code from overriding the state as stale
last_run_ms = last_state_change_ms; last_run_ms = now;
} }
/* /*