From c2f5ffdfcd767c774fd8eafe6c35b126e307f959 Mon Sep 17 00:00:00 2001 From: RomanBapst Date: Thu, 7 Jul 2022 13:05:25 +0300 Subject: [PATCH] log tecs trim throttle Signed-off-by: RomanBapst --- msg/tecs_status.msg | 1 + src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp | 1 + 2 files changed, 2 insertions(+) diff --git a/msg/tecs_status.msg b/msg/tecs_status.msg index 74c47e1a2c..8cd1a1e1b9 100644 --- a/msg/tecs_status.msg +++ b/msg/tecs_status.msg @@ -40,5 +40,6 @@ float32 pitch_integ float32 throttle_sp float32 pitch_sp_rad +float32 throttle_trim # estimated throttle value [0,1] required to fly level at equivalent_airspeed_sp in the current atmospheric conditions uint8 mode diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp index 80261537d4..ec3e8dd6e6 100644 --- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp @@ -537,6 +537,7 @@ FixedwingPositionControl::tecs_status_publish() t.throttle_sp = _tecs.get_throttle_setpoint(); t.pitch_sp_rad = _tecs.get_pitch_setpoint(); + t.throttle_trim = _tecs.get_throttle_trim(); t.timestamp = hrt_absolute_time();