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Plane: fix tailsitter logged attitude targets

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This commit is contained in:
Andrew Tridgell 2019-01-18 13:38:51 +11:00
parent 129762d3af
commit bc438676ab
1 changed files with 4 additions and 5 deletions
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9
ArduPlane/Log.cpp
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@ -17,12 +17,11 @@ void Plane::Log_Write_Attitude(void)
targets.z = 0;
}
if (quadplane.tailsitter_active()) {
DataFlash.Log_Write_AttitudeView(*quadplane.ahrs_view, targets);
} else if (quadplane.in_vtol_mode()) {
if (quadplane.tailsitter_active() || quadplane.in_vtol_mode()) {
// we need the attitude targets from the AC_AttitudeControl controller, as they
// account for the acceleration limits
targets = quadplane.attitude_control->get_att_target_euler_cd();
DataFlash.Log_Write_Attitude(ahrs, targets);
DataFlash.Log_Write_AttitudeView(*quadplane.ahrs_view, targets);
} else {
DataFlash.Log_Write_Attitude(ahrs, targets);
}