From 93ccec32034037cd116da68d3479c9c1cffeca57 Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Tue, 12 Sep 2023 20:51:09 +0100 Subject: [PATCH] AP_Logger: Write_PID: add PD sum limit flag --- libraries/AP_Logger/LogFile.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/libraries/AP_Logger/LogFile.cpp b/libraries/AP_Logger/LogFile.cpp index b5230db774..26717af38c 100644 --- a/libraries/AP_Logger/LogFile.cpp +++ b/libraries/AP_Logger/LogFile.cpp @@ -475,12 +475,16 @@ void AP_Logger::Write_PID(uint8_t msg_type, const AP_PIDInfo &info) { enum class log_PID_Flags : uint8_t { LIMIT = 1U<<0, // true if the output is saturated, I term anti windup is active + PD_SUM_LIMIT = 1U<<1, // true if the PD sum limit is active }; uint8_t flags = 0; if (info.limit) { flags |= (uint8_t)log_PID_Flags::LIMIT; } + if (info.PD_limit) { + flags |= (uint8_t)log_PID_Flags::PD_SUM_LIMIT; + } const struct log_PID pkt{ LOG_PACKET_HEADER_INIT(msg_type),