Rover: Added dataflash logging of the steering PID.

10 years ago · 268afc9d5a
1 changed files with 5 additions and 0 deletions
--- a/APMrover2/Log.cpp
+++ b/APMrover2/Log.cpp
@ -321,6 +321,11 @@ void Rover::Log_Write_Attitude()
				@@ -321,6 +321,11 @@ void Rover::Log_Write_Attitude()
    DataFlash.Log_Write_AHRS2(ahrs);
 #endif
    DataFlash.Log_Write_POS(ahrs);
+
+#if HAL_CPU_CLASS > HAL_CPU_CLASS_16
+    DataFlash.Log_Write_PID(LOG_PIDY_MSG, steerController.get_pid_info());
+#endif
+
 }

 struct PACKED log_Sonar {