AR_PosControl: adjust for logging having moved into AC_AttitudeControl

ArduPilot · Feb 29, 2024 · d0cc35a · d0cc35a
1 parent fcbd885
commit d0cc35a
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/libraries/APM_Control/AR_PosControl.cpp b/libraries/APM_Control/AR_PosControl.cpp
@@ -21,6 +21,7 @@
 #include <AP_Logger/AP_Logger.h>
 #include <GCS_MAVLink/GCS.h>
 #include <AC_Avoidance/AC_Avoid.h>
+#include <AC_AttitudeControl/AC_PosControl.h>
 
 #define AR_POSCON_TIMEOUT_MS            100     // timeout after 0.1 sec
 #define AR_POSCON_POS_P                 0.2f    // default position P gain
@@ -385,15 +386,16 @@ void AR_PosControl::write_log()
     // convert position to required format
     Vector2f pos_target_2d_cm = get_pos_target().tofloat() * 100.0;
 
-    AP::logger().Write_PSCN(pos_target_2d_cm.x,     // position target
+    // reuse logging from AC_PosControl:
+    AC_PosControl::Write_PSCN(pos_target_2d_cm.x,     // position target
                             curr_pos_NED.x * 100.0, // position
                             _vel_desired.x * 100.0, // desired velocity
                             _vel_target.x * 100.0,  // target velocity
                             curr_vel_NED.x * 100.0, // velocity
                             _accel_desired.x * 100.0,   // desired accel
                             _accel_target.x * 100.0,    // target accel
                             curr_accel_NED.x);      // accel
-    AP::logger().Write_PSCE(pos_target_2d_cm.y,     // position target
+    AC_PosControl::Write_PSCE(pos_target_2d_cm.y,     // position target
                             curr_pos_NED.y * 100.0, // position
                             _vel_desired.y * 100.0, // desired velocity
                             _vel_target.y * 100.0,  // target velocity