diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde index a0f206d27f..8ef7c3db63 100644 --- a/ArduCopter/Attitude.pde +++ b/ArduCopter/Attitude.pde @@ -968,7 +968,7 @@ get_throttle_rate(int16_t z_target_speed) #if LOGGING_ENABLED == ENABLED static uint8_t log_counter = 0; // used to slow down logging of PID values to dataflash // log output if PID loggins is on and we are tuning the yaw - if( g.log_bitmask & MASK_LOG_PID && g.radio_tuning == CH6_THROTTLE_KP ) { + if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_THROTTLE_KP || g.radio_tuning == CH6_THROTTLE_KI || g.radio_tuning == CH6_THROTTLE_KD) ) { log_counter++; if( log_counter >= 10 ) { // (update rate / desired output rate) = (50hz / 10hz) = 5hz log_counter = 0; diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h index 12c5ce49aa..5b15826e91 100644 --- a/ArduCopter/defines.h +++ b/ArduCopter/defines.h @@ -153,6 +153,7 @@ #define CH6_THR_HOLD_KP 14 // altitude hold controller's P term (alt error to desired rate) #define CH6_THROTTLE_KP 7 // throttle rate controller's P term (desired rate to acceleration or motor output) #define CH6_THROTTLE_KI 33 // throttle rate controller's I term (desired rate to acceleration or motor output) +#define CH6_THROTTLE_KD 37 // throttle rate controller's D term (desired rate to acceleration or motor output) #define CH6_THR_ACCEL_KP 34 // accel based throttle controller's P term #define CH6_THR_ACCEL_KI 35 // accel based throttle controller's I term #define CH6_THR_ACCEL_KD 36 // accel based throttle controller's D term