From 9d76d3b423c33ef4a01821d63160e7e111d68ba8 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 18 Oct 2014 20:08:46 +0900
Subject: [PATCH] Copter: log DCM reported roll-pitch and yaw error
---
ArduCopter/Log.pde | 8 ++++++--
1 file changed, 6 insertions(+), 2 deletions(-)
diff --git a/ArduCopter/Log.pde b/ArduCopter/Log.pde
index d83a9b90c..9569605f6 100644
--- a/ArduCopter/Log.pde
+++ b/ArduCopter/Log.pde
@@ -464,6 +464,8 @@ struct PACKED log_Attitude {
int16_t pitch;
uint16_t control_yaw;
uint16_t yaw;
+ uint16_t error_rp;
+ uint16_t error_yaw;
};
// Write an attitude packet
@@ -478,7 +480,9 @@ static void Log_Write_Attitude()
control_pitch : (int16_t)targets.y,
pitch : (int16_t)ahrs.pitch_sensor,
control_yaw : (uint16_t)targets.z,
- yaw : (uint16_t)ahrs.yaw_sensor
+ yaw : (uint16_t)ahrs.yaw_sensor,
+ error_rp : (uint16_t)(ahrs.get_error_rp() * 100),
+ error_yaw : (uint16_t)(ahrs.get_error_yaw() * 100)
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
@@ -684,7 +688,7 @@ static const struct LogStructure log_structure[] PROGMEM = {
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "HHIhBHB", "NLon,NLoop,MaxT,PMT,I2CErr,INSErr,INAVErr" },
{ LOG_ATTITUDE_MSG, sizeof(log_Attitude),
- "ATT", "IccccCC", "TimeMS,DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw" },
+ "ATT", "IccccCCCC", "TimeMS,DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw,ErrRP,ErrYaw" },
{ LOG_MODE_MSG, sizeof(log_Mode),
"MODE", "Mh", "Mode,ThrCrs" },
{ LOG_STARTUP_MSG, sizeof(log_Startup),
--
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