Plane: log PIDs during QAUTOTUNE twitch

s434 · Dec 22, 2018 · 7939f34 · 7939f34
1 parent e279fde
commit 7939f34
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diff --git a/ArduPlane/qautotune.cpp b/ArduPlane/qautotune.cpp
@@ -61,5 +61,13 @@ void QAutoTune::Log_Write_Event(enum at_event id)
         ev_id);
 }
 
+// log VTOL PIDs for during twitch
+void QAutoTune::log_pids(void)
+{
+    DataFlash_Class::instance()->Log_Write_PID(LOG_PIQR_MSG, plane.quadplane.attitude_control->get_rate_roll_pid().get_pid_info());
+    DataFlash_Class::instance()->Log_Write_PID(LOG_PIQP_MSG, plane.quadplane.attitude_control->get_rate_pitch_pid().get_pid_info());
+    DataFlash_Class::instance()->Log_Write_PID(LOG_PIQY_MSG, plane.quadplane.attitude_control->get_rate_yaw_pid().get_pid_info());
+}
+
 #endif // QAUTOTUNE_ENABLED
 
diff --git a/ArduPlane/qautotune.h b/ArduPlane/qautotune.h
@@ -24,6 +24,7 @@ class QAutoTune : public AC_AutoTune
     void get_pilot_desired_rp_yrate_cd(int32_t &roll_cd, int32_t &pitch_cd, int32_t &yaw_rate_cds) override;
     void init_z_limits() override;
     void Log_Write_Event(enum at_event id) override;
+    void log_pids() override;
 };
 
 #endif // QAUTOTUNE_ENABLED