From d5b939fe76990b2820e7895113b297f9425f3355 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Thu, 5 Sep 2024 14:02:46 +0100 Subject: [PATCH] Copter: log attitude target in degrees --- ArduCopter/Log.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/ArduCopter/Log.cpp b/ArduCopter/Log.cpp index 63f238f2d7..335b4bcc9d 100644 --- a/ArduCopter/Log.cpp +++ b/ArduCopter/Log.cpp @@ -75,9 +75,7 @@ void Copter::Log_Write_Control_Tuning() // Write an attitude packet void Copter::Log_Write_Attitude() { - Vector3f targets = attitude_control->get_att_target_euler_cd(); - targets.z = wrap_360_cd(targets.z); - ahrs.Write_Attitude(targets); + ahrs.Write_Attitude(attitude_control->get_att_target_euler_rad() * RAD_TO_DEG); ahrs_view->Write_Rate(*motors, *attitude_control, *pos_control); }