From 9fe554236bdd08d450ac469297699fb81b4771cf Mon Sep 17 00:00:00 2001 From: Doug Weibel Date: Sat, 5 Nov 2011 15:19:20 -0600 Subject: [PATCH] Add logging of DCM drift correction integrator in PM MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit This may be a temporary feature… Mostly added to check new (lower) integrator limit. --- ArduPlane/Log.pde | 3 +++ 1 file changed, 3 insertions(+) diff --git a/ArduPlane/Log.pde b/ArduPlane/Log.pde index 59c9971c65..b630e00de8 100644 --- a/ArduPlane/Log.pde +++ b/ArduPlane/Log.pde @@ -355,6 +355,9 @@ static void Log_Write_Performance() DataFlash.WriteByte(dcm.renorm_blowup_count); DataFlash.WriteByte(gps_fix_count); DataFlash.WriteInt((int)(dcm.get_health() * 1000)); + DataFlash.WriteInt((int)(dcm.get_integrator().x * 1000)); + DataFlash.WriteInt((int)(dcm.get_integrator().y * 1000)); + DataFlash.WriteInt((int)(dcm.get_integrator().z * 1000)); DataFlash.WriteInt(pmTest1); DataFlash.WriteByte(END_BYTE); }