Log attitude information at full resolution

AntennaTracker/Log.cpp

@@ -7,9 +7,7 @@
 // Write an attitude packet
 void Tracker::Log_Write_Attitude()
 {
-    Vector3f targets;
-    targets.y = nav_status.pitch * 100.0f;
-    targets.z = wrap_360_cd(nav_status.bearing * 100.0f);
+    const Vector3f targets{0.0f, nav_status.pitch, nav_status.bearing};
     ahrs.Write_Attitude(targets);
     AP::ahrs().Log_Write();
 }

ArduCopter/Log.cpp

@@ -75,9 +75,7 @@ void Copter::Log_Write_Control_Tuning()
 // Write an attitude packet
 void Copter::Log_Write_Attitude()
 {
-    Vector3f targets = attitude_control->get_att_target_euler_cd();
-    targets.z = wrap_360_cd(targets.z);
-    ahrs.Write_Attitude(targets);
+    ahrs.Write_Attitude(attitude_control->get_att_target_euler_rad() * RAD_TO_DEG);
     ahrs_view->Write_Rate(*motors, *attitude_control, *pos_control);
  }
 

ArduPlane/Log.cpp

@@ -5,10 +5,11 @@
 // Write an attitude packet
 void Plane::Log_Write_Attitude(void)
 {
-    Vector3f targets;       // Package up the targets into a vector for commonality with Copter usage of Log_Wrote_Attitude
-    targets.x = nav_roll_cd;
-    targets.y = nav_pitch_cd;
-    targets.z = 0; //Plane does not have the concept of navyaw. This is a placeholder.
+    Vector3f targets {       // Package up the targets into a vector for commonality with Copter usage of Log_Wrote_Attitude
+        nav_roll_cd * 0.01f,
+        nav_pitch_cd * 0.01f,
+        0 //Plane does not have the concept of navyaw. This is a placeholder.
+    };
 
 #if HAL_QUADPLANE_ENABLED
     if (quadplane.show_vtol_view()) {
@@ -18,8 +19,7 @@ void Plane::Log_Write_Attitude(void)
         // since Euler angles are not used and it is a waste of cpu to compute them at the loop rate.
         // Get them from the quaternion instead:
         quadplane.attitude_control->get_attitude_target_quat().to_euler(targets.x, targets.y, targets.z);
-        targets *= degrees(100.0f);
-        quadplane.ahrs_view->Write_AttitudeView(targets);
+        quadplane.ahrs_view->Write_AttitudeView(targets * RAD_TO_DEG);
     } else
 #endif
             {

ArduSub/Log.cpp

@@ -59,9 +59,7 @@ void Sub::Log_Write_Control_Tuning()
 // Write an attitude packet
 void Sub::Log_Write_Attitude()
 {
-    Vector3f targets = attitude_control.get_att_target_euler_cd();
-    targets.z = wrap_360_cd(targets.z);
-    ahrs.Write_Attitude(targets);
+    ahrs.Write_Attitude(attitude_control.get_att_target_euler_rad() * RAD_TO_DEG);
 
     AP::ahrs().Log_Write();
 }

Rover/Log.cpp

@@ -7,8 +7,8 @@
 // Write an attitude packet
 void Rover::Log_Write_Attitude()
 {
-    float desired_pitch_cd = degrees(g2.attitude_control.get_desired_pitch()) * 100.0f;
-    const Vector3f targets(0.0f, desired_pitch_cd, 0.0f);
+    float desired_pitch = degrees(g2.attitude_control.get_desired_pitch());
+    const Vector3f targets(0.0f, desired_pitch, 0.0f);
 
     ahrs.Write_Attitude(targets);
 

libraries/AP_AHRS/AP_AHRS_Logging.cpp

@@ -48,18 +48,18 @@ void AP_AHRS::Write_AOA_SSA(void) const
     AP::logger().WriteBlock(&aoa_ssa, sizeof(aoa_ssa));
 }
 
-// Write an attitude packet
+// Write an attitude packet, targets in degrees
 void AP_AHRS::Write_Attitude(const Vector3f &targets) const
 {
     const struct log_Attitude pkt{
         LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG),
         time_us         : AP_HAL::micros64(),
-        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),
+        control_roll    : targets.x,
+        roll            : degrees(roll),
+        control_pitch   : targets.y,
+        pitch           : degrees(pitch),
+        control_yaw     : wrap_360(targets.z),
+        yaw             : wrap_360(degrees(yaw)),
         active          : uint8_t(active_EKF_type()),
     };
     AP::logger().WriteBlock(&pkt, sizeof(pkt));
@@ -122,18 +122,18 @@ void AP_AHRS::write_video_stabilisation() const
     AP::logger().WriteBlock(&pkt, sizeof(pkt));
 }
 
-// Write an attitude view packet
+// Write an attitude view packet, targets in degrees
 void AP_AHRS_View::Write_AttitudeView(const Vector3f &targets) const
 {
     const struct log_Attitude pkt{
         LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG),
         time_us         : AP_HAL::micros64(),
-        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),
+        control_roll    : targets.x,
+        roll            : degrees(roll),
+        control_pitch   : targets.y,
+        pitch           : degrees(pitch),
+        control_yaw     : wrap_360(targets.z),
+        yaw             : wrap_360(degrees(yaw)),
         active          : uint8_t(AP::ahrs().active_EKF_type()),
     };
     AP::logger().WriteBlock(&pkt, sizeof(pkt));

libraries/AP_AHRS/LogStructure.h

@@ -61,12 +61,12 @@ 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;
+    float control_roll;
+    float roll;
+    float control_pitch;
+    float pitch;
+    float control_yaw;
+    float yaw;
     uint8_t  active;
 };
 
@@ -195,7 +195,7 @@ 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", "QccccCCB", "TimeUS,DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw,AEKF", "sddddhh-", "FBBBBBB-" , true }, \
+        "ATT", "QffffffB", "TimeUS,DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw,AEKF", "sddddhh-", "F000000-" , true }, \
     { LOG_ORGN_MSG, sizeof(log_ORGN), \
         "ORGN","QBLLe","TimeUS,Type,Lat,Lng,Alt", "s#DUm", "F-GGB" }, \
     { LOG_POS_MSG, sizeof(log_POS), \