From 245d265c6a4bec0f812f6224fb6a2319862ecb94 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 14 Feb 2012 21:06:42 +1100 Subject: [PATCH] DCM: added a SITL_debug() for DCM normalisation errors I have seen normalisation errors during simulation runs, but have not yet tracked down the cause. This log message may help track things down. --- libraries/AP_DCM/AP_DCM.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/libraries/AP_DCM/AP_DCM.cpp b/libraries/AP_DCM/AP_DCM.cpp index abf00d9ba9..c6deb7f63f 100644 --- a/libraries/AP_DCM/AP_DCM.cpp +++ b/libraries/AP_DCM/AP_DCM.cpp @@ -268,6 +268,8 @@ AP_DCM::renorm(Vector3f const &a, int &problem) renorm_sqrt_count++; } else { problem = 1; + SITL_debug("ERROR: DCM renormalisation error. renorm_val=%f\n", + renorm_val); renorm_blowup_count++; }