From c31da937261cec5f6e0f0cc5cd64cd139ec55bd1 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sat, 23 May 2015 07:39:50 +1000 Subject: [PATCH] Plane: log roll and pitch PIDs --- ArduPlane/Log.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/ArduPlane/Log.cpp b/ArduPlane/Log.cpp index 17cbf803a5..38ee5eb985 100644 --- a/ArduPlane/Log.cpp +++ b/ArduPlane/Log.cpp @@ -168,6 +168,8 @@ void Plane::Log_Write_Attitude(void) targets.z = 0; //Plane does not have the concept of navyaw. This is a placeholder. DataFlash.Log_Write_Attitude(ahrs, targets); + DataFlash.Log_Write_PID(LOG_PIDR_MSG, rollController.get_pid_info()); + DataFlash.Log_Write_PID(LOG_PIDP_MSG, pitchController.get_pid_info()); #if AP_AHRS_NAVEKF_AVAILABLE #if OPTFLOW == ENABLED