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AC_PosControl: add PSCZ logging

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This commit is contained in:
Randy Mackay 2021-01-29 13:43:43 +09:00
parent 9f914d9e7d
commit 0703a1cf93
1 changed files with 4 additions and 2 deletions
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6
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -901,8 +901,10 @@ void AC_PosControl::write_log()
float accel_x, accel_y;
lean_angles_to_accel(accel_x, accel_y);
AP::logger().Write_PSC(get_pos_target(), _inav.get_position(), get_vel_target(), _inav.get_velocity(), get_accel_target(), accel_x, accel_y);
AP::logger().Write_PSC(get_pos_target(), _inav.get_position(), get_vel_target(), _inav.get_velocity(), get_accel_target(), accel_x, accel_y);
AP::logger().Write_PSCZ(get_pos_target().z, _inav.get_position().z,
get_desired_velocity().z, get_vel_target().z, _inav.get_velocity().z,
_accel_desired.z, get_accel_target().z, get_z_accel_cmss(), _attitude_control.get_throttle_in());
}
/// init_vel_controller_xyz - initialise the velocity controller - should be called once before the caller attempts to use the controller