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NAV: Fixed logging of target position

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2016-01-22 23:22:02 +10:00
parent f38ec40748
commit a5628cc4a8
1 changed files with 9 additions and 0 deletions
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9
src/main/flight/navigation_rewrite.c
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@ -1575,6 +1575,10 @@ void updateAltitudeTargetFromClimbRate(float climbRate)
}
posControl.desiredState.pos.V.Z = posControl.actualState.pos.V.Z + (climbRate / posControl.pids.pos[Z].param.kP);
#if defined(NAV_BLACKBOX)
navTargetPosition[Z] = constrain(lrintf(posControl.desiredState.pos.V.Z), -32678, 32767);
#endif
}
static void resetAltitudeController(void)
@ -1651,6 +1655,11 @@ static bool adjustPositionFromRCInput(void)
else {
return adjustMulticopterPositionFromRCInput();
}
#if defined(NAV_BLACKBOX)
navTargetPosition[X] = constrain(lrintf(posControl.desiredState.pos.V.X), -32678, 32767);
navTargetPosition[Y] = constrain(lrintf(posControl.desiredState.pos.V.Y), -32678, 32767);
#endif
}
/*-----------------------------------------------------------