From d8304bfe23a5c968c5d9a38e816394f24403728f Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Tue, 10 Sep 2024 11:57:08 +0100 Subject: [PATCH] Sub: log ANG attitude message --- ArduSub/ArduSub.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp index b66dc2b644a857..10f56e55b5d9e6 100644 --- a/ArduSub/ArduSub.cpp +++ b/ArduSub/ArduSub.cpp @@ -183,6 +183,7 @@ void Sub::ten_hz_logging_loop() // log attitude data if we're not already logging at the higher rate if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) { Log_Write_Attitude(); + attitude_control.Write_Attitude(); attitude_control.Write_Rate(pos_control); if (should_log(MASK_LOG_PID)) { logger.Write_PID(LOG_PIDR_MSG, attitude_control.get_rate_roll_pid().get_pid_info()); @@ -222,6 +223,7 @@ void Sub::twentyfive_hz_logging() { if (should_log(MASK_LOG_ATTITUDE_FAST)) { Log_Write_Attitude(); + attitude_control.Write_Attitude(); attitude_control.Write_Rate(pos_control); if (should_log(MASK_LOG_PID)) { logger.Write_PID(LOG_PIDR_MSG, attitude_control.get_rate_roll_pid().get_pid_info());