diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde index 6c67a04bbfd23876f12579f96e40dfa47699dc80..09b707e84919204ae18dfbea785650d3f0212702 100644 --- a/ArduPlane/ArduPlane.pde +++ b/ArduPlane/ArduPlane.pde @@ -54,6 +54,7 @@ #include <APM_OBC.h> #include <APM_Control.h> +#include <AP_AutoTune.h> #include <GCS.h> #include <GCS_MAVLink.h> // MAVLink GCS definitions #include <AP_Mount.h> // Camera/Antenna mount diff --git a/ArduPlane/Log.pde b/ArduPlane/Log.pde index 5f10593f091d4a1e8e269ca3a5320809aed7d45a..858c115f38904bc8dd2c651ceeec27892ec16bb1 100644 --- a/ArduPlane/Log.pde +++ b/ArduPlane/Log.pde @@ -565,6 +565,8 @@ static const struct LogStructure log_structure[] PROGMEM = { "ARM", "IHB", "TimeMS,ArmState,ArmChecks" }, { LOG_AIRSPEED_MSG, sizeof(log_AIRSPEED), "ARSP", "Iffc", "TimeMS,Airspeed,DiffPress,Temp" }, + { LOG_ATRP_MSG, sizeof(AP_AutoTune::log_ATRP), + "ATRP", "IBBcfff", "TimeMS,Type,State,Servo,Demanded,Achieved,P" }, TECS_LOG_FORMAT(LOG_TECS_MSG) };