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Add logging of DCM drift correction integrator in PM

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This may be a temporary feature…  Mostly added to check new (lower) integrator limit.
This commit is contained in:
Doug Weibel 2011-11-05 15:19:20 -06:00
parent 7d8db2358a
commit b7494774f7
1 changed files with 3 additions and 0 deletions
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3
ArduPlane/Log.pde
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@ -355,6 +355,9 @@ static void Log_Write_Performance()
DataFlash.WriteByte(dcm.renorm_blowup_count); DataFlash.WriteByte(dcm.renorm_blowup_count);
DataFlash.WriteByte(gps_fix_count); DataFlash.WriteByte(gps_fix_count);
DataFlash.WriteInt((int)(dcm.get_health() * 1000)); DataFlash.WriteInt((int)(dcm.get_health() * 1000));
DataFlash.WriteInt((int)(dcm.get_integrator().x * 1000));
DataFlash.WriteInt((int)(dcm.get_integrator().y * 1000));
DataFlash.WriteInt((int)(dcm.get_integrator().z * 1000));
DataFlash.WriteInt(pmTest1); DataFlash.WriteInt(pmTest1);
DataFlash.WriteByte(END_BYTE); DataFlash.WriteByte(END_BYTE);
} }