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Copter: Reenable PID logging in SystemID mode

This commit is contained in:
Pierre-Yves BRULIN 2023-03-06 13:15:38 +01:00 committed by Andrew Tridgell
parent 5b0a2334e3
commit d67e67965f
2 changed files with 2 additions and 1 deletions
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2
ArduCopter/Copter.cpp
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@ -519,7 +519,7 @@ void Copter::ten_hz_logging_loop()
if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST) && !copter.flightmode->logs_attitude()) { if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST) && !copter.flightmode->logs_attitude()) {
Log_Write_Attitude(); Log_Write_Attitude();
} }
if (!should_log(MASK_LOG_ATTITUDE_FAST)) { if (!should_log(MASK_LOG_ATTITUDE_FAST) && !copter.flightmode->logs_attitude()) {
// log at 10Hz if PIDS bitmask is selected, even if no ATT bitmask is selected; logs at looprate if ATT_FAST and PIDS bitmask set // log at 10Hz if PIDS bitmask is selected, even if no ATT bitmask is selected; logs at looprate if ATT_FAST and PIDS bitmask set
Log_Write_PIDS(); Log_Write_PIDS();
} }

1
ArduCopter/mode_systemid.cpp
View File

@ -299,6 +299,7 @@ void ModeSystemId::log_data() const
// Full rate logging of attitude, rate and pid loops // Full rate logging of attitude, rate and pid loops
copter.Log_Write_Attitude(); copter.Log_Write_Attitude();
copter.Log_Write_PIDS();
} }
#endif #endif