mirror of https://github.com/ArduPilot/ardupilot
Add logging of DCM drift correction integrator in PM
This may be a temporary feature… Mostly added to check new (lower) integrator limit.
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@ -355,6 +355,9 @@ static void Log_Write_Performance()
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DataFlash.WriteByte(dcm.renorm_blowup_count);
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DataFlash.WriteByte(gps_fix_count);
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DataFlash.WriteInt((int)(dcm.get_health() * 1000));
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DataFlash.WriteInt((int)(dcm.get_integrator().x * 1000));
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DataFlash.WriteInt((int)(dcm.get_integrator().y * 1000));
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DataFlash.WriteInt((int)(dcm.get_integrator().z * 1000));
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DataFlash.WriteInt(pmTest1);
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DataFlash.WriteByte(END_BYTE);
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}
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