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Copter: log DCM reported roll-pitch and yaw error

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Randy Mackay 2014-10-18 20:08:46 +09:00
parent 542ec29e49
commit a8c96946eb
1 changed files with 6 additions and 2 deletions
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8
ArduCopter/Log.pde
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@ -470,6 +470,8 @@ struct PACKED log_Attitude {
int16_t pitch; int16_t pitch;
uint16_t control_yaw; uint16_t control_yaw;
uint16_t yaw; uint16_t yaw;
uint16_t error_rp;
uint16_t error_yaw;
}; };
// Write an attitude packet // Write an attitude packet
@ -484,7 +486,9 @@ static void Log_Write_Attitude()
control_pitch : (int16_t)targets.y, control_pitch : (int16_t)targets.y,
pitch : (int16_t)ahrs.pitch_sensor, pitch : (int16_t)ahrs.pitch_sensor,
control_yaw : (uint16_t)targets.z, control_yaw : (uint16_t)targets.z,
yaw : (uint16_t)ahrs.yaw_sensor yaw : (uint16_t)ahrs.yaw_sensor,
error_rp : (uint16_t)(ahrs.get_error_rp() * 100),
error_yaw : (uint16_t)(ahrs.get_error_yaw() * 100)
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); DataFlash.WriteBlock(&pkt, sizeof(pkt));
@ -690,7 +694,7 @@ static const struct LogStructure log_structure[] PROGMEM = {
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance), { LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "HHIhBHB", "NLon,NLoop,MaxT,PMT,I2CErr,INSErr,INAVErr" }, "PM", "HHIhBHB", "NLon,NLoop,MaxT,PMT,I2CErr,INSErr,INAVErr" },
{ LOG_ATTITUDE_MSG, sizeof(log_Attitude), { LOG_ATTITUDE_MSG, sizeof(log_Attitude),
"ATT", "IccccCC", "TimeMS,DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw" }, "ATT", "IccccCCCC", "TimeMS,DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw,ErrRP,ErrYaw" },
{ LOG_MODE_MSG, sizeof(log_Mode), { LOG_MODE_MSG, sizeof(log_Mode),
"MODE", "Mh", "Mode,ThrCrs" }, "MODE", "Mh", "Mode,ThrCrs" },
{ LOG_STARTUP_MSG, sizeof(log_Startup), { LOG_STARTUP_MSG, sizeof(log_Startup),