From b096881f81018781ae74e51c955f28e9026e1b13 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 4 Nov 2013 21:36:40 +1100 Subject: [PATCH] AP_TECS: added time to TECS messages --- libraries/AP_TECS/AP_TECS.cpp | 1 + libraries/AP_TECS/AP_TECS.h | 3 ++- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp index b7ae3e3ad4..44bb2f5850 100644 --- a/libraries/AP_TECS/AP_TECS.cpp +++ b/libraries/AP_TECS/AP_TECS.cpp @@ -651,6 +651,7 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm, log_tuning.thr = _throttle_dem; log_tuning.ptch = _pitch_dem; log_tuning.dspd_dem = _TAS_rate_dem; + log_tuning.time_ms = hal.scheduler->millis(); } // log the contents of the log_tuning structure to dataflash diff --git a/libraries/AP_TECS/AP_TECS.h b/libraries/AP_TECS/AP_TECS.h index d806d2131a..cd92de7c21 100644 --- a/libraries/AP_TECS/AP_TECS.h +++ b/libraries/AP_TECS/AP_TECS.h @@ -71,6 +71,7 @@ public: struct PACKED log_TECS_Tuning { LOG_PACKET_HEADER; + uint32_t time_ms; float hgt; float dhgt; float hgt_dem; @@ -264,6 +265,6 @@ private: }; #define TECS_LOG_FORMAT(msg) { msg, sizeof(AP_TECS::log_TECS_Tuning), \ - "TECS", "ffffffffffff", "h,dh,h_dem,dh_dem,sp_dem,sp,dsp,ith,iph,th,ph,dsp_dem" } + "TECS", "Iffffffffffff", "TimeMS,h,dh,h_dem,dh_dem,sp_dem,sp,dsp,ith,iph,th,ph,dsp_dem" } #endif //AP_TECS_H