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Copter: log EKF yaw reset event

This commit is contained in:
Randy Mackay 2016-06-24 18:12:30 +09:00
parent f1bca63094
commit b61ae1a4a1
2 changed files with 2 additions and 0 deletions
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1
ArduCopter/Attitude.cpp
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@ -57,6 +57,7 @@ void Copter::check_ekf_yaw_reset()
if (new_ekfYawReset_ms != ekfYawReset_ms) { if (new_ekfYawReset_ms != ekfYawReset_ms) {
attitude_control.shift_ef_yaw_target(ToDeg(yaw_angle_change_rad) * 100.0f); attitude_control.shift_ef_yaw_target(ToDeg(yaw_angle_change_rad) * 100.0f);
ekfYawReset_ms = new_ekfYawReset_ms; ekfYawReset_ms = new_ekfYawReset_ms;
Log_Write_Event(DATA_EKF_YAW_RESET);
} }
} }

1
ArduCopter/defines.h
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@ -350,6 +350,7 @@ enum ThrowModeState {
#define DATA_ROTOR_SPEED_BELOW_CRITICAL 59 // Heli only #define DATA_ROTOR_SPEED_BELOW_CRITICAL 59 // Heli only
#define DATA_EKF_ALT_RESET 60 #define DATA_EKF_ALT_RESET 60
#define DATA_LAND_CANCELLED_BY_PILOT 61 #define DATA_LAND_CANCELLED_BY_PILOT 61
#define DATA_EKF_YAW_RESET 62
// Centi-degrees to radians // Centi-degrees to radians
#define DEGX100 5729.57795f #define DEGX100 5729.57795f