DataFlash: fix bug in ekf gyro bias logging

ArduPilot · Oct 30, 2014 · ac2e5f6 · ac2e5f6
1 parent bb6d8fd
commit ac2e5f6
Showing 1 changed file with 6 additions and 6 deletions.
diff --git a/libraries/DataFlash/LogFile.cpp b/libraries/DataFlash/LogFile.cpp
@@ -900,18 +900,18 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs)
     struct log_EKF1 pkt = {
         LOG_PACKET_HEADER_INIT(LOG_EKF1_MSG),
         time_ms : hal.scheduler->millis(),
-        roll    : (int16_t)(100*degrees(euler.x)), // roll angle (centi-deg)
-        pitch   : (int16_t)(100*degrees(euler.y)), // pitch angle (centi-deg)
-        yaw     : (uint16_t)wrap_360_cd(100*degrees(euler.z)), // yaw angle (centi-deg)
+        roll    : (int16_t)(100*degrees(euler.x)), // roll angle (centi-deg, displayed as deg due to format string)
+        pitch   : (int16_t)(100*degrees(euler.y)), // pitch angle (centi-deg, displayed as deg due to format string)
+        yaw     : (uint16_t)wrap_360_cd(100*degrees(euler.z)), // yaw angle (centi-deg, displayed as deg due to format string)
         velN    : (float)(velNED.x), // velocity North (m/s)
         velE    : (float)(velNED.y), // velocity East (m/s)
         velD    : (float)(velNED.z), // velocity Down (m/s)
         posN    : (float)(posNED.x), // metres North
         posE    : (float)(posNED.y), // metres East
         posD    : (float)(posNED.z), // metres Down
-        gyrX    : (int8_t)(60*degrees(gyroBias.x)), // deg/min
-        gyrY    : (int8_t)(60*degrees(gyroBias.y)), // deg/min
-        gyrZ    : (int8_t)(60*degrees(gyroBias.z))  // deg/min
+        gyrX    : (int16_t)(100*degrees(gyroBias.x)), // cd/sec, displayed as deg/sec due to format string
+        gyrY    : (int16_t)(100*degrees(gyroBias.y)), // cd/sec, displayed as deg/sec due to format string
+        gyrZ    : (int16_t)(100*degrees(gyroBias.z)) // cd/sec, displayed as deg/sec due to format string
     };
     WriteBlock(&pkt, sizeof(pkt));