From e867ef74cc67d64f1d29221614d4d7440a375a08 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sat, 4 Aug 2018 12:23:03 +0900 Subject: [PATCH] Rover: balance bots log pitch PID --- APMrover2/Log.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/APMrover2/Log.cpp b/APMrover2/Log.cpp index 9651bca612..05f46d26cb 100644 --- a/APMrover2/Log.cpp +++ b/APMrover2/Log.cpp @@ -38,6 +38,11 @@ void Rover::Log_Write_Attitude() // log steering rate controller DataFlash.Log_Write_PID(LOG_PIDS_MSG, g2.attitude_control.get_steering_rate_pid().get_pid_info()); DataFlash.Log_Write_PID(LOG_PIDA_MSG, g2.attitude_control.get_throttle_speed_pid().get_pid_info()); + + // log pitch control for balance bots + if (is_balancebot()) { + DataFlash.Log_Write_PID(LOG_PIDP_MSG, g2.attitude_control.get_pitch_to_throttle_pid().get_pid_info()); + } } // Write a range finder depth message