// write log to dataflash void AC_PosControl::write_log() { const Vector3f &pos_target = get_pos_target(); const Vector3f &vel_target = get_vel_target(); const Vector3f &accel_target = get_accel_target(); const Vector3f &position = _inav.get_position(); const Vector3f &velocity = _inav.get_velocity(); float accel_x, accel_y; lean_angles_to_accel(accel_x, accel_y); DataFlash_Class::instance()->Log_Write("PSC", "TimeUS,TPX,TPY,PX,PY,TVX,TVY,VX,VY,TAX,TAY,AX,AY", "smmmmnnnnoooo", "FBBBBBBBBBBBB", "Qffffffffffff", AP_HAL::micros64(), (double)pos_target.x, (double)pos_target.y, (double)position.x, (double)position.y, (double)vel_target.x, (double)vel_target.y, (double)velocity.x, (double)velocity.y, (double)accel_target.x, (double)accel_target.y, (double)accel_x, (double)accel_y); }
void AC_PosControl::write_log() { const Vector3f &pos_target = get_pos_target(); const Vector3f &vel_target = get_vel_target(); const Vector3f &accel_target = get_accel_target(); const Vector3f &position = _inav.get_position(); const Vector3f &velocity = _inav.get_velocity(); float accel_x, accel_y; lean_angles_to_accel(accel_x, accel_y); AP::logger().Write("PSC", "TimeUS,TPX,TPY,PX,PY,TVX,TVY,VX,VY,TAX,TAY,AX,AY", "smmmmnnnnoooo", "F000000000000", "Qffffffffffff", AP_HAL::micros64(), double(pos_target.x * 0.01f), double(pos_target.y * 0.01f), double(position.x * 0.01f), double(position.y * 0.01f), double(vel_target.x * 0.01f), double(vel_target.y * 0.01f), double(velocity.x * 0.01f), double(velocity.y * 0.01f), double(accel_target.x * 0.01f), double(accel_target.y * 0.01f), double(accel_x * 0.01f), double(accel_y * 0.01f)); }