logging: Log RTKFEstimate.

d-ronin · Jan 30, 2018 · d6fe08d · d6fe08d
1 parent 61f39f3
commit d6fe08d
Showing 1 changed file with 5 additions and 3 deletions.
diff --git a/flight/Modules/Logging/logging.c b/flight/Modules/Logging/logging.c
@@ -67,6 +67,7 @@
 #include "velocityactual.h"
 #include "waypointactive.h"
 #include "ratedesired.h"
+#include "rtkfestimate.h"
 
 #include "pios_bl_helper.h"
 #include "pios_streamfs_priv.h"
@@ -591,9 +592,10 @@ static void register_custom_profile()
 	// For the default profile, we limit things to 100Hz (for now)
 	uint16_t min_period = MAX(get_minimum_logging_period(), 1);
 
-	UAVObjConnectCallbackThrottled(GyrosHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, min_period);
-	UAVObjConnectCallbackThrottled(ActuatorDesiredHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, min_period);
-	UAVObjConnectCallbackThrottled(RateDesiredHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, min_period);
+	UAVObjConnectCallback(GyrosHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED);
+	UAVObjConnectCallback(ActuatorDesiredHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED);
+	UAVObjConnectCallback(RTKFEstimateHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED);
+	UAVObjConnectCallbackThrottled(StabilizationDesiredHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, min_period*2);
 }
 
 /**