From d7c636b4aa3d34837efd020e48ae87af111257bf Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 27 Nov 2013 22:59:31 +0900 Subject: [PATCH] Copter: remove yaw_in from ATT dataflash msg --- ArduCopter/Log.pde | 22 ++++++++++------------ 1 file changed, 10 insertions(+), 12 deletions(-) diff --git a/ArduCopter/Log.pde b/ArduCopter/Log.pde index 45bd044c48..af102105b4 100644 --- a/ArduCopter/Log.pde +++ b/ArduCopter/Log.pde @@ -430,13 +430,12 @@ static void Log_Write_Cmd(uint8_t num, const struct Location *wp) struct PACKED log_Attitude { LOG_PACKET_HEADER; - int16_t roll_in; + int16_t control_roll; int16_t roll; - int16_t pitch_in; + int16_t control_pitch; int16_t pitch; - int16_t yaw_in; + uint16_t control_yaw; uint16_t yaw; - uint16_t nav_yaw; }; // Write an attitude packet @@ -444,13 +443,12 @@ static void Log_Write_Attitude() { struct log_Attitude pkt = { LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG), - roll_in : (int16_t)control_roll, - roll : (int16_t)ahrs.roll_sensor, - pitch_in : (int16_t)control_pitch, - pitch : (int16_t)ahrs.pitch_sensor, - yaw_in : (int16_t)g.rc_4.control_in, - yaw : (uint16_t)ahrs.yaw_sensor, - nav_yaw : (uint16_t)control_yaw + control_roll : (int16_t)control_roll, + roll : (int16_t)ahrs.roll_sensor, + control_pitch : (int16_t)control_pitch, + pitch : (int16_t)ahrs.pitch_sensor, + control_yaw : (uint16_t)control_yaw, + yaw : (uint16_t)ahrs.yaw_sensor }; DataFlash.WriteBlock(&pkt, sizeof(pkt)); } @@ -730,7 +728,7 @@ static const struct LogStructure log_structure[] PROGMEM = { { LOG_CMD_MSG, sizeof(log_Cmd), "CMD", "BBBBBeLL", "CTot,CNum,CId,COpt,Prm1,Alt,Lat,Lng" }, { LOG_ATTITUDE_MSG, sizeof(log_Attitude), - "ATT", "cccccCC", "RollIn,Roll,PitchIn,Pitch,YawIn,Yaw,NavYaw" }, + "ATT", "ccccCC", "DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw" }, { LOG_INAV_MSG, sizeof(log_INAV), "INAV", "cccfffiiff", "BAlt,IAlt,IClb,ACorrX,ACorrY,ACorrZ,GLat,GLng,ILat,ILng" }, { LOG_MODE_MSG, sizeof(log_Mode),