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Rover: Log_Write_Nav_Tuning should log wp_bearing and nav_bearing in degrees #13162

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Mar 2, 2020
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Rover: Log_Write_Nav_Tuning should log wp_bearing and nav_bearing in degrees #13162

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10 changes: 5 additions & 5 deletions APMrover2/Log.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -99,8 +99,8 @@ struct PACKED log_Nav_Tuning {
LOG_PACKET_HEADER;
uint64_t time_us;
float wp_distance;
uint16_t wp_bearing_cd;
uint16_t nav_bearing_cd;
float wp_bearing;
float nav_bearing;
uint16_t yaw;
float xtrack_error;
};
Expand All @@ -112,8 +112,8 @@ void Rover::Log_Write_Nav_Tuning()
LOG_PACKET_HEADER_INIT(LOG_NTUN_MSG),
time_us : AP_HAL::micros64(),
wp_distance : control_mode->get_distance_to_destination(),
wp_bearing_cd : (uint16_t)wrap_360_cd(control_mode->wp_bearing() * 100),
nav_bearing_cd : (uint16_t)wrap_360_cd(control_mode->nav_bearing() * 100),
wp_bearing : control_mode->wp_bearing(),
nav_bearing : control_mode->nav_bearing(),
yaw : (uint16_t)ahrs.yaw_sensor,
xtrack_error : control_mode->crosstrack_error()
};
Expand Down Expand Up @@ -252,7 +252,7 @@ const LogStructure Rover::log_structure[] = {
{ LOG_THR_MSG, sizeof(log_Throttle),
"THR", "Qhffff", "TimeUS,ThrIn,ThrOut,DesSpeed,Speed,AccY", "s--nno", "F--000" },
{ LOG_NTUN_MSG, sizeof(log_Nav_Tuning),
"NTUN", "QfHHHf", "TimeUS,WpDist,WpBrg,DesYaw,Yaw,XTrack", "smdddm", "F0BBB0" },
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Need ot say "float" here.

"NTUN", "QfffHf", "TimeUS,WpDist,WpBrg,DesYaw,Yaw,XTrack", "smhhdm", "F000B0" },
{ LOG_STEERING_MSG, sizeof(log_Steering),
"STER", "Qhfffff", "TimeUS,SteerIn,SteerOut,DesLatAcc,LatAcc,DesTurnRate,TurnRate", "s--ookk", "F--0000" },
{ LOG_GUIDEDTARGET_MSG, sizeof(log_GuidedTarget),
Expand Down