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Rover: Added dataflash logging of the steering PID.

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Grant Morphett 2015-06-18 17:34:58 +10:00 committed by Andrew Tridgell
parent a87e06e6c2
commit 268afc9d5a
1 changed files with 5 additions and 0 deletions
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5
APMrover2/Log.cpp
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@ -321,6 +321,11 @@ void Rover::Log_Write_Attitude()
DataFlash.Log_Write_AHRS2(ahrs); DataFlash.Log_Write_AHRS2(ahrs);
#endif #endif
DataFlash.Log_Write_POS(ahrs); DataFlash.Log_Write_POS(ahrs);
#if HAL_CPU_CLASS > HAL_CPU_CLASS_16
DataFlash.Log_Write_PID(LOG_PIDY_MSG, steerController.get_pid_info());
#endif
} }
struct PACKED log_Sonar { struct PACKED log_Sonar {