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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/mc_att_control/mc_att_control_main.cpp
+6 -3
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@@ -1257,9 +1257,12 @@ MulticopterAttitudeControl::task_main()
/* publish controller status */
rate_ctrl_status_s rate_ctrl_status;
rate_ctrl_status.timestamp = hrt_absolute_time();
rate_ctrl_status.roll_integ = _rates_int(0);
rate_ctrl_status.pitch_integ = _rates_int(1);
rate_ctrl_status.yaw_integ = _rates_int(2);
rate_ctrl_status.rollspeed = _rates_prev(0);
rate_ctrl_status.pitchspeed = _rates_prev(1);
rate_ctrl_status.yawspeed = _rates_prev(2);
rate_ctrl_status.rollspeed_integ = _rates_int(0);
rate_ctrl_status.pitchspeed_integ = _rates_int(1);
rate_ctrl_status.yawspeed_integ = _rates_int(2);
int instance;
orb_publish_auto(ORB_ID(rate_ctrl_status), &_controller_status_pub, &rate_ctrl_status, &instance, ORB_PRIO_DEFAULT);