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Copter: CURR dataflash msg to output throttle_out

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Previously it was outputting throttle-in which is not as useful in
autonomous modes
This commit is contained in:
Randy Mackay 2013-11-18 13:30:48 +09:00
parent e7d5d9a2b7
commit 7dd4ab835f
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/Log.pde
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@ -208,7 +208,7 @@ static void Log_Write_AutoTuneDetails(int16_t angle_cd, float rate_cds)
struct PACKED log_Current { struct PACKED log_Current {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
int16_t throttle_in; int16_t throttle_out;
uint32_t throttle_integrator; uint32_t throttle_integrator;
int16_t battery_voltage; int16_t battery_voltage;
int16_t current_amps; int16_t current_amps;
@ -221,7 +221,7 @@ static void Log_Write_Current()
{ {
struct log_Current pkt = { struct log_Current pkt = {
LOG_PACKET_HEADER_INIT(LOG_CURRENT_MSG), LOG_PACKET_HEADER_INIT(LOG_CURRENT_MSG),
throttle_in : g.rc_3.control_in, throttle_out : g.rc_3.servo_out,
throttle_integrator : throttle_integrator, throttle_integrator : throttle_integrator,
battery_voltage : (int16_t) (battery.voltage() * 100.0f), battery_voltage : (int16_t) (battery.voltage() * 100.0f),
current_amps : (int16_t) (battery.current_amps() * 100.0f), current_amps : (int16_t) (battery.current_amps() * 100.0f),
@ -769,7 +769,7 @@ static const struct LogStructure log_structure[] PROGMEM = {
"ATDE", "cf", "Angle,Rate" }, "ATDE", "cf", "Angle,Rate" },
#endif #endif
{ LOG_CURRENT_MSG, sizeof(log_Current), { LOG_CURRENT_MSG, sizeof(log_Current),
"CURR", "hIhhhf", "Thr,ThrInt,Volt,Curr,Vcc,CurrTot" }, "CURR", "hIhhhf", "ThrOut,ThrInt,Volt,Curr,Vcc,CurrTot" },
#if FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME #if FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME
{ LOG_MOTORS_MSG, sizeof(log_Motors), { LOG_MOTORS_MSG, sizeof(log_Motors),