From d3afc9424a02f6c44ff5fb5f3bdca40d642e9424 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 21 Dec 2018 18:42:59 +1100
Subject: [PATCH] Plane: make QTUN logging match copter logging

---
 ArduPlane/Log.cpp       |  2 +-
 ArduPlane/quadplane.cpp | 22 +++++++++++++---------
 ArduPlane/quadplane.h   |  9 ++++-----
 3 files changed, 18 insertions(+), 15 deletions(-)

diff --git a/ArduPlane/Log.cpp b/ArduPlane/Log.cpp
index 13bd526e34..2a4428d2fb 100644
--- a/ArduPlane/Log.cpp
+++ b/ArduPlane/Log.cpp
@@ -281,7 +281,7 @@ const struct LogStructure Plane::log_structure[] = {
     { LOG_STATUS_MSG, sizeof(log_Status),
       "STAT", "QBfBBBBBB",  "TimeUS,isFlying,isFlyProb,Armed,Safety,Crash,Still,Stage,Hit", "s--------", "F--------" },
     { LOG_QTUN_MSG, sizeof(QuadPlane::log_QControl_Tuning),
-      "QTUN", "Qffffhhfffff", "TimeUS,AngBst,ThrOut,DAlt,Alt,DCRt,CRt,DVx,DVy,DAx,DAy,TMix", "s--mmnnnnoo-", "F--BBBB0000-" },
+      "QTUN", "Qffffffeccf", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DCRt,CRt,TMix", "s----mmmnn-", "F----00000-" },
     { LOG_AOA_SSA_MSG, sizeof(log_AOA_SSA),
       "AOA", "Qff", "TimeUS,AOA,SSA", "sdd", "F00" },
     { LOG_PIQR_MSG, sizeof(log_PID), \
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index b46130b5a1..bdda75e5c2 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -2321,21 +2321,25 @@ bool QuadPlane::verify_vtol_land(void)
 // Write a control tuning packet
 void QuadPlane::Log_Write_QControl_Tuning()
 {
-    const Vector3f &desired_velocity = pos_control->get_desired_velocity();
-    const Vector3f &accel_target = pos_control->get_accel_target();
+    float des_alt_m = 0.0f;
+    int16_t target_climb_rate_cms = 0;
+    if (plane.control_mode != QSTABILIZE) {
+        des_alt_m = pos_control->get_alt_target() / 100.0f;
+        target_climb_rate_cms = pos_control->get_vel_target_z();
+    }
+
     struct log_QControl_Tuning pkt = {
         LOG_PACKET_HEADER_INIT(LOG_QTUN_MSG),
         time_us             : AP_HAL::micros64(),
+        throttle_in         : attitude_control->get_throttle_in(),
         angle_boost         : attitude_control->angle_boost(),
         throttle_out        : motors->get_throttle(),
-        desired_alt         : pos_control->get_alt_target() / 100.0f,
+        throttle_hover      : motors->get_throttle_hover(),
+        desired_alt         : des_alt_m,
         inav_alt            : inertial_nav.get_altitude() / 100.0f,
-        desired_climb_rate  : (int16_t)pos_control->get_vel_target_z(),
-        climb_rate          : (int16_t)inertial_nav.get_velocity_z(),
-        dvx                 : desired_velocity.x*0.01f,
-        dvy                 : desired_velocity.y*0.01f,
-        dax                 : accel_target.x*0.01f,
-        day                 : accel_target.y*0.01f,
+        baro_alt            : int32_t(plane.barometer.get_altitude() * 100),
+        target_climb_rate   : target_climb_rate_cms,
+        climb_rate          : int16_t(inertial_nav.get_velocity_z()),
         throttle_mix        : attitude_control->get_throttle_mix(),
     };
     plane.DataFlash.WriteBlock(&pkt, sizeof(pkt));
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index 03b8f73f78..171af1d9a3 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -120,16 +120,15 @@ public:
     struct PACKED log_QControl_Tuning {
         LOG_PACKET_HEADER;
         uint64_t time_us;
+        float    throttle_in;
         float    angle_boost;
         float    throttle_out;
+        float    throttle_hover;
         float    desired_alt;
         float    inav_alt;
-        int16_t  desired_climb_rate;
+        int32_t  baro_alt;
+        int16_t  target_climb_rate;
         int16_t  climb_rate;
-        float    dvx;
-        float    dvy;
-        float    dax;
-        float    day;
         float    throttle_mix;
     };