From ab945f36df13accb01f8ee646eb67ace5af0a0bd Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Fri, 24 Feb 2012 12:10:58 -0800
Subject: [PATCH] Compass heading added to ATT log

---
 ArduCopter/Log.pde | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/ArduCopter/Log.pde b/ArduCopter/Log.pde
index 4866b15a9d..c05be04cac 100644
--- a/ArduCopter/Log.pde
+++ b/ArduCopter/Log.pde
@@ -701,6 +701,7 @@ static void Log_Write_Attitude()
 	DataFlash.WriteInt((int)dcm.pitch_sensor);		// 4
 	DataFlash.WriteInt(g.rc_4.control_in);			// 5
 	DataFlash.WriteInt((uint16_t)dcm.yaw_sensor);	// 6
+	DataFlash.WriteInt((uint16_t)compass.heading);	// 6
 
 	DataFlash.WriteByte(END_BYTE);
 }
@@ -714,15 +715,18 @@ static void Log_Read_Attitude()
 	int16_t temp4 	= DataFlash.ReadInt();
 	int16_t temp5 	= DataFlash.ReadInt();
 	uint16_t temp6 	= DataFlash.ReadInt();
+	uint16_t temp7 	= DataFlash.ReadInt();
+	temp7 			= wrap_360(temp7);
 
-							// 1   2   3    4   5   6
-	Serial.printf_P(PSTR("ATT, %d, %d, %d, %d, %d, %u\n"),
+							// 1   2   3    4   5   6  7
+	Serial.printf_P(PSTR("ATT, %d, %d, %d, %d, %d, %u, %u\n"),
 		temp1,
 		temp2,
 		temp3,
 		temp4,
 		temp5,
-		temp6);
+		temp6,
+		temp7);
 }
 
 // Write a mode packet. Total length : 7 bytes