From 7508262b5e6dc8e9b95ba7fbd5cd7b69fbb3cad6 Mon Sep 17 00:00:00 2001 From: Willian Galvani Date: Thu, 19 Sep 2024 16:43:35 -0300 Subject: [PATCH] log velxy --- ArduSub/ArduSub.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp index df4729ba01692..6edf280f0473e 100644 --- a/ArduSub/ArduSub.cpp +++ b/ArduSub/ArduSub.cpp @@ -203,6 +203,8 @@ void Sub::ten_hz_logging_loop() } if (should_log(MASK_LOG_NTUN) && (sub.flightmode->requires_GPS() || !sub.flightmode->has_manual_throttle())) { pos_control.write_log(); + logger.Write_PID(LOG_PIDN_MSG, pos_control.get_vel_xy_pid().get_pid_info_x()); + logger.Write_PID(LOG_PIDE_MSG, pos_control.get_vel_xy_pid().get_pid_info_y()); } if (should_log(MASK_LOG_IMU) || should_log(MASK_LOG_IMU_FAST) || should_log(MASK_LOG_IMU_RAW)) { AP::ins().Write_Vibration();