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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/sdlog2/sdlog2.c
+3 -3
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@@ -2082,9 +2082,9 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- MULTIROTOR ATTITUDE CONTROLLER STATUS --- */
if (copy_if_updated(ORB_ID(rate_ctrl_status), &subs.rate_ctrl_status_sub, &buf.rate_ctrl_status)) {
log_msg.msg_type = LOG_MACS_MSG;
log_msg.body.log_MACS.roll_rate_integ = buf.rate_ctrl_status.roll_integ;
log_msg.body.log_MACS.pitch_rate_integ = buf.rate_ctrl_status.pitch_integ;
log_msg.body.log_MACS.yaw_rate_integ = buf.rate_ctrl_status.yaw_integ;
log_msg.body.log_MACS.roll_rate_integ = buf.rate_ctrl_status.rollspeed_integ;
log_msg.body.log_MACS.pitch_rate_integ = buf.rate_ctrl_status.pitchspeed_integ;
log_msg.body.log_MACS.yaw_rate_integ = buf.rate_ctrl_status.yawspeed_integ;
LOGBUFFER_WRITE_AND_COUNT(MACS);
}
}