AP_AHRS: log attitude target at full resolution

ArduPilot · Aug 31, 2024 · 94b7c59 · 94b7c59
1 parent 857588c
commit 94b7c59
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Showing 2 changed files with 25 additions and 25 deletions.
diff --git a/libraries/AP_AHRS/AP_AHRS_Logging.cpp b/libraries/AP_AHRS/AP_AHRS_Logging.cpp
@@ -54,14 +54,14 @@ void AP_AHRS::Write_Attitude(const Vector3f &targets, uint64_t sample_time_us) c
     const struct log_Attitude pkt{
         LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG),
         time_us         : sample_time_us,
-        control_roll    : (int16_t)targets.x,
-        roll            : (int16_t)roll_sensor,
-        control_pitch   : (int16_t)targets.y,
-        pitch           : (int16_t)pitch_sensor,
-        control_yaw     : (uint16_t)wrap_360_cd(targets.z),
-        yaw             : (uint16_t)wrap_360_cd(yaw_sensor),
-        error_rp        : (uint16_t)(get_error_rp() * 100),
-        error_yaw       : (uint16_t)(get_error_yaw() * 100),
+        control_roll    : targets.x,
+        roll            : roll_sensor,
+        control_pitch   : targets.y,
+        pitch           : pitch_sensor,
+        control_yaw     : wrap_360_cd(targets.z),
+        yaw             : wrap_360_cd(yaw_sensor),
+        error_rp        : (get_error_rp() * 100),
+        error_yaw       : (get_error_yaw() * 100),
         active          : uint8_t(active_EKF_type()),
     };
     AP::logger().WriteBlock(&pkt, sizeof(pkt));
@@ -130,14 +130,14 @@ void AP_AHRS_View::Write_AttitudeView(const Vector3f &targets, uint64_t sample_t
     const struct log_Attitude pkt{
         LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG),
         time_us         : sample_time_us,
-        control_roll    : (int16_t)targets.x,
-        roll            : (int16_t)roll_sensor,
-        control_pitch   : (int16_t)targets.y,
-        pitch           : (int16_t)pitch_sensor,
-        control_yaw     : (uint16_t)wrap_360_cd(targets.z),
-        yaw             : (uint16_t)wrap_360_cd(yaw_sensor),
-        error_rp        : (uint16_t)(get_error_rp() * 100),
-        error_yaw       : (uint16_t)(get_error_yaw() * 100),
+        control_roll    : targets.x,
+        roll            : roll_sensor,
+        control_pitch   : targets.y,
+        pitch           : pitch_sensor,
+        control_yaw     : wrap_360_cd(targets.z),
+        yaw             : wrap_360_cd(yaw_sensor),
+        error_rp        : (get_error_rp() * 100),
+        error_yaw       : (get_error_yaw() * 100),
         active          : uint8_t(AP::ahrs().active_EKF_type()),
     };
     AP::logger().WriteBlock(&pkt, sizeof(pkt));

diff --git a/libraries/AP_AHRS/LogStructure.h b/libraries/AP_AHRS/LogStructure.h
@@ -63,14 +63,14 @@ struct PACKED log_AOA_SSA {
 struct PACKED log_Attitude {
     LOG_PACKET_HEADER;
     uint64_t time_us;
-    int16_t  control_roll;
-    int16_t  roll;
-    int16_t  control_pitch;
-    int16_t  pitch;
-    uint16_t control_yaw;
-    uint16_t yaw;
-    uint16_t error_rp;
-    uint16_t error_yaw;
+    float control_roll;
+    int32_t roll;
+    float control_pitch;
+    int32_t pitch;
+    float control_yaw;
+    int32_t yaw;
+    float error_rp;
+    float error_yaw;
     uint8_t  active;
 };
 
@@ -165,7 +165,7 @@ struct PACKED log_ATSC {
     { LOG_AOA_SSA_MSG, sizeof(log_AOA_SSA), \
         "AOA", "Qff", "TimeUS,AOA,SSA", "sdd", "F00" , true }, \
     { LOG_ATTITUDE_MSG, sizeof(log_Attitude),\
-        "ATT", "QccccCCCCB", "TimeUS,DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw,ErrRP,ErrYaw,AEKF", "sddddhhdh-", "FBBBBBBBB-" , true }, \
+        "ATT", "QfifififfB", "TimeUS,DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw,ErrRP,ErrYaw,AEKF", "sddddhhdh-", "FBBBBBBBB-" , true }, \
     { LOG_ORGN_MSG, sizeof(log_ORGN), \
         "ORGN","QBLLe","TimeUS,Type,Lat,Lng,Alt", "s#DUm", "F-GGB" }, \
     { LOG_POS_MSG, sizeof(log_POS), \