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log tecs trim throttle 

Signed-off-by: RomanBapst <bapstroman@gmail.com>
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RomanBapst 2022-07-07 13:05:25 +03:00 committed by Martina Rivizzigno
parent 92cdff6798
commit c2f5ffdfcd
2 changed files with 2 additions and 0 deletions
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1
msg/tecs_status.msg
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@ -40,5 +40,6 @@ float32 pitch_integ
float32 throttle_sp float32 throttle_sp
float32 pitch_sp_rad float32 pitch_sp_rad
float32 throttle_trim # estimated throttle value [0,1] required to fly level at equivalent_airspeed_sp in the current atmospheric conditions
uint8 mode uint8 mode

1
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
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@ -537,6 +537,7 @@ FixedwingPositionControl::tecs_status_publish()
t.throttle_sp = _tecs.get_throttle_setpoint(); t.throttle_sp = _tecs.get_throttle_setpoint();
t.pitch_sp_rad = _tecs.get_pitch_setpoint(); t.pitch_sp_rad = _tecs.get_pitch_setpoint();
t.throttle_trim = _tecs.get_throttle_trim();
t.timestamp = hrt_absolute_time(); t.timestamp = hrt_absolute_time();