Added possibility to log pid control values

Conflicts:
	apps/multirotor_pos_control/multirotor_pos_control.c
	src/drivers/ardrone_interface/ardrone_interface.c

src/modules/multirotor_att_control/multirotor_attitude_control.c

@@ -182,11 +182,11 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 
 	/* control pitch (forward) output */
 	rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body ,
-					att->pitch, att->pitchspeed, deltaT);
+					att->pitch, att->pitchspeed, deltaT, NULL, NULL, NULL);
 
 	/* control roll (left/right) output */
 	rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body ,
-				       att->roll, att->rollspeed, deltaT);
+				       att->roll, att->rollspeed, deltaT, NULL, NULL, NULL);
 
 	// printf("rates_sp: %4.4f, att setpoint: %4.4f\n, pitch: %4.4f, pitchspeed: %4.4f, dT: %4.4f", rates_sp->pitch, att_sp->pitch_body, att->pitch, att->pitchspeed, deltaT);
 

src/modules/multirotor_att_control/multirotor_rate_control.c

@@ -197,11 +197,11 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 
 	/* control pitch (forward) output */
 	float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch ,
-			rates[1], 0.0f, deltaT);
+			rates[1], 0.0f, deltaT, NULL, NULL, NULL);
 
 	/* control roll (left/right) output */
 	float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll ,
-			rates[0], 0.0f, deltaT);
+			rates[0], 0.0f, deltaT, NULL, NULL, NULL);
 
 	/* increase resilience to faulty control inputs */
 	if (isfinite(pitch_control)) {