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rate controller status include rates

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- the actual corrected rates currently used by mc_att_control are not
   logged
This commit is contained in:
Daniel Agar
2018-01-29 09:10:56 -05:00
parent 98441ac100
commit 2bea09a997
5 changed files with 27 additions and 14 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+6 -3
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@@ -1179,9 +1179,12 @@ FixedwingAttitudeControl::task_main()
rate_ctrl_status_s rate_ctrl_status;
rate_ctrl_status.timestamp = hrt_absolute_time();
rate_ctrl_status.roll_integ = _roll_ctrl.get_integrator();
rate_ctrl_status.pitch_integ = _pitch_ctrl.get_integrator();
rate_ctrl_status.yaw_integ = _yaw_ctrl.get_integrator();
rate_ctrl_status.rollspeed = _att.rollspeed;
rate_ctrl_status.pitchspeed = _att.pitchspeed;
rate_ctrl_status.yawspeed = _att.yawspeed;
rate_ctrl_status.rollspeed_integ = _roll_ctrl.get_integrator();
rate_ctrl_status.pitchspeed_integ = _pitch_ctrl.get_integrator();
rate_ctrl_status.yawspeed_integ = _yaw_ctrl.get_integrator();
rate_ctrl_status.additional_integ1 = _wheel_ctrl.get_integrator();
int instance;