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Copter: remove yaw_in from ATT dataflash msg

master
Randy Mackay 11 years ago
parent
f08cc010ea
commit
d7c636b4aa
1 changed files with 10 additions and 12 deletions
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  1. 18
      ArduCopter/Log.pde

18
ArduCopter/Log.pde
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@ -430,13 +430,12 @@ static void Log_Write_Cmd(uint8_t num, const struct Location *wp)
struct PACKED log_Attitude { struct PACKED log_Attitude {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
int16_t roll_in; int16_t control_roll;
int16_t roll; int16_t roll;
int16_t pitch_in; int16_t control_pitch;
int16_t pitch; int16_t pitch;
int16_t yaw_in; uint16_t control_yaw;
uint16_t yaw; uint16_t yaw;
uint16_t nav_yaw;
}; };
// Write an attitude packet // Write an attitude packet
@ -444,13 +443,12 @@ static void Log_Write_Attitude()
{ {
struct log_Attitude pkt = { struct log_Attitude pkt = {
LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG), LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG),
roll_in : (int16_t)control_roll, control_roll : (int16_t)control_roll,
roll : (int16_t)ahrs.roll_sensor, roll : (int16_t)ahrs.roll_sensor,
pitch_in : (int16_t)control_pitch, control_pitch : (int16_t)control_pitch,
pitch : (int16_t)ahrs.pitch_sensor, pitch : (int16_t)ahrs.pitch_sensor,
yaw_in : (int16_t)g.rc_4.control_in, control_yaw : (uint16_t)control_yaw,
yaw : (uint16_t)ahrs.yaw_sensor, yaw : (uint16_t)ahrs.yaw_sensor
nav_yaw : (uint16_t)control_yaw
}; };
DataFlash.WriteBlock(&pkt, sizeof(pkt)); DataFlash.WriteBlock(&pkt, sizeof(pkt));
} }
@ -730,7 +728,7 @@ static const struct LogStructure log_structure[] PROGMEM = {
{ LOG_CMD_MSG, sizeof(log_Cmd), { LOG_CMD_MSG, sizeof(log_Cmd),
"CMD", "BBBBBeLL", "CTot,CNum,CId,COpt,Prm1,Alt,Lat,Lng" }, "CMD", "BBBBBeLL", "CTot,CNum,CId,COpt,Prm1,Alt,Lat,Lng" },
{ LOG_ATTITUDE_MSG, sizeof(log_Attitude), { 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), { LOG_INAV_MSG, sizeof(log_INAV),
"INAV", "cccfffiiff", "BAlt,IAlt,IClb,ACorrX,ACorrY,ACorrZ,GLat,GLng,ILat,ILng" }, "INAV", "cccfffiiff", "BAlt,IAlt,IClb,ACorrX,ACorrY,ACorrZ,GLat,GLng,ILat,ILng" },
{ LOG_MODE_MSG, sizeof(log_Mode), { LOG_MODE_MSG, sizeof(log_Mode),

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