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Plane: added logging of quadplane desired yaw

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makes analysis of takeoffs easier
This commit is contained in:
Andrew Tridgell 2017-04-18 22:52:29 +10:00
parent 2d9c3e3d93
commit fedabd1ace
1 changed files with 8 additions and 1 deletions
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9
ArduPlane/Log.cpp
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@ -160,8 +160,15 @@ void Plane::Log_Write_Attitude(void)
Vector3f targets; // Package up the targets into a vector for commonality with Copter usage of Log_Wrote_Attitude
targets.x = nav_roll_cd;
targets.y = nav_pitch_cd;
targets.z = 0; //Plane does not have the concept of navyaw. This is a placeholder.
if (quadplane.in_vtol_mode() || quadplane.in_assisted_flight()) {
// when VTOL active log the copter target yaw
targets.z = wrap_360_cd(quadplane.attitude_control->get_att_target_euler_cd().z);
} else {
//Plane does not have the concept of navyaw. This is a placeholder.
targets.z = 0;
}
if (quadplane.tailsitter_active()) {
DataFlash.Log_Write_AttitudeView(*quadplane.ahrs_view, targets);
} else {