From 6c23459af562d11da4e69ba034788f80418c2512 Mon Sep 17 00:00:00 2001 From: Michelle Rossouw Date: Mon, 1 May 2023 18:56:28 +1000 Subject: [PATCH] Blimp: Add position to VNF log message --- Blimp/Blimp.cpp | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/Blimp/Blimp.cpp b/Blimp/Blimp.cpp index 848c00f81d283..3ae5fef6d88fe 100644 --- a/Blimp/Blimp.cpp +++ b/Blimp/Blimp.cpp @@ -229,7 +229,7 @@ void Blimp::read_AHRS(void) vel_ned_filtd = {vel_xy_filtd.x, vel_xy_filtd.y, vel_z_filter.apply(vel_ned.z)}; vel_yaw_filtd = vel_yaw_filter.apply(vel_yaw); - AP::logger().WriteStreaming("VNF", "TimeUS,X,XF,Y,YF,Z,ZF,Yaw,YawF", "Qffffffff", + AP::logger().WriteStreaming("VNF", "TimeUS,X,XF,Y,YF,Z,ZF,Yaw,YawF,PX,PY,PZ,PYaw", "Qffffffffffff", AP_HAL::micros64(), vel_ned.x, vel_ned_filtd.x, @@ -238,7 +238,11 @@ void Blimp::read_AHRS(void) vel_ned.z, vel_ned_filtd.z, vel_yaw, - vel_yaw_filtd); + vel_yaw_filtd, + pos_ned.x, + pos_ned.y, + pos_ned.z, + blimp.ahrs.get_yaw()); } // read baro and log control tuning