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AR_PosControl: adjust for logging having moved into AC_AttitudeControl

This commit is contained in:
Peter Barker 2024-02-29 12:41:34 +11:00 committed by Peter Barker
parent fcbd88558c
commit d0cc35af3e
1 changed files with 4 additions and 2 deletions
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6
libraries/APM_Control/AR_PosControl.cpp
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@ -21,6 +21,7 @@
#include <AP_Logger/AP_Logger.h>
#include <GCS_MAVLink/GCS.h>
#include <AC_Avoidance/AC_Avoid.h>
#include <AC_AttitudeControl/AC_PosControl.h>
#define AR_POSCON_TIMEOUT_MS 100 // timeout after 0.1 sec
#define AR_POSCON_POS_P 0.2f // default position P gain
@ -385,7 +386,8 @@ void AR_PosControl::write_log()
// convert position to required format
Vector2f pos_target_2d_cm = get_pos_target().tofloat() * 100.0;
AP::logger().Write_PSCN(pos_target_2d_cm.x, // position target
// reuse logging from AC_PosControl:
AC_PosControl::Write_PSCN(pos_target_2d_cm.x, // position target
curr_pos_NED.x * 100.0, // position
_vel_desired.x * 100.0, // desired velocity
_vel_target.x * 100.0, // target velocity
@ -393,7 +395,7 @@ void AR_PosControl::write_log()
_accel_desired.x * 100.0, // desired accel
_accel_target.x * 100.0, // target accel
curr_accel_NED.x); // accel
AP::logger().Write_PSCE(pos_target_2d_cm.y, // position target
AC_PosControl::Write_PSCE(pos_target_2d_cm.y, // position target
curr_pos_NED.y * 100.0, // position
_vel_desired.y * 100.0, // desired velocity
_vel_target.y * 100.0, // target velocity