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Plane: log attitude target in degrees

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Andy Piper 2024-09-05 14:03:25 +01:00 committed by Peter Barker
parent ca451f7df4
commit d309275866
1 changed files with 6 additions and 6 deletions
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12
ArduPlane/Log.cpp
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@ -5,10 +5,11 @@
// Write an attitude packet // Write an attitude packet
void Plane::Log_Write_Attitude(void) void Plane::Log_Write_Attitude(void)
{ {
Vector3f targets; // Package up the targets into a vector for commonality with Copter usage of Log_Wrote_Attitude Vector3f targets { // Package up the targets into a vector for commonality with Copter usage of Log_Wrote_Attitude
targets.x = nav_roll_cd; nav_roll_cd * 0.01f,
targets.y = nav_pitch_cd; nav_pitch_cd * 0.01f,
targets.z = 0; //Plane does not have the concept of navyaw. This is a placeholder. 0 //Plane does not have the concept of navyaw. This is a placeholder.
};
#if HAL_QUADPLANE_ENABLED #if HAL_QUADPLANE_ENABLED
if (quadplane.show_vtol_view()) { if (quadplane.show_vtol_view()) {
@ -18,8 +19,7 @@ void Plane::Log_Write_Attitude(void)
// since Euler angles are not used and it is a waste of cpu to compute them at the loop rate. // since Euler angles are not used and it is a waste of cpu to compute them at the loop rate.
// Get them from the quaternion instead: // Get them from the quaternion instead:
quadplane.attitude_control->get_attitude_target_quat().to_euler(targets.x, targets.y, targets.z); quadplane.attitude_control->get_attitude_target_quat().to_euler(targets.x, targets.y, targets.z);
targets *= degrees(100.0f); quadplane.ahrs_view->Write_AttitudeView(targets * RAD_TO_DEG);
quadplane.ahrs_view->Write_AttitudeView(targets);
} else } else
#endif #endif
{ {