From f16c6fc019837863c473ac7a20e36e85598d2b96 Mon Sep 17 00:00:00 2001
From: Nicholas Sherlock <n.sherlock@gmail.com>
Date: Fri, 30 Jan 2015 15:53:45 +1300
Subject: [PATCH] Blackbox: Log PID intermediates for pidLuxFloat

Previously nothing was logged since the intermediate calculations were
floats. Logging them converted to integers is better than nothing.
---
 src/main/flight/flight.c | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/src/main/flight/flight.c b/src/main/flight/flight.c
index 26e18f618d..2c4f090c9c 100644
--- a/src/main/flight/flight.c
+++ b/src/main/flight/flight.c
@@ -201,8 +201,13 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
 
         // -----calculate total PID output
         axisPID[axis] = constrain(lrintf(PTerm + ITerm - DTerm), -1000, 1000);
-    }
 
+#ifdef BLACKBOX
+        axisPID_P[axis] = PTerm;
+        axisPID_I[axis] = ITerm;
+        axisPID_D[axis] = -DTerm;
+#endif
+    }
 }
 
 static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,