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Rover: balance bots log pitch PID

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This commit is contained in:
Randy Mackay 2018-08-04 12:23:03 +09:00
parent 7772279785
commit e867ef74cc
1 changed files with 5 additions and 0 deletions
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APMrover2/Log.cpp
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@ -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