Plane: bodyframe roll log target attitude bugfix

ArduPlane/Log.cpp

@@ -16,11 +16,15 @@ void Plane::Log_Write_Attitude(void)
         //Plane does not have the concept of navyaw. This is a placeholder.
         targets.z = 0;
     }
-    
+
     if (quadplane.tailsitter_active() || quadplane.in_vtol_mode()) {
         // we need the attitude targets from the AC_AttitudeControl controller, as they
-        // account for the acceleration limits
-        targets = quadplane.attitude_control->get_att_target_euler_cd();
+        // account for the acceleration limits.
+        // Also, for bodyframe roll input types, _attitude_target_euler_angle is not maintained
+        // since Euler angles are not used and it is a waste of cpu to compute them at the loop rate.
+        // Get them from the quaternion instead:
+        quadplane.attitude_control->get_attitude_target_quat().to_euler(targets.x, targets.y, targets.z);
+        targets *= degrees(100.0f);
         logger.Write_AttitudeView(*quadplane.ahrs_view, targets);
     } else {
         logger.Write_Attitude(ahrs, targets);