Matt Kear

I am fairly sure that this won't change the motor outputs, but it would be nice to confirm with the heli motors comparison tool

Updated following a few suggestions on discord. @IamPete1 I have done your suggestion for instance logging per swashplate. This is a nice improvement, good idea! I looked at moving the...

@bnsgeyer yes fair comment, I can see why users would want the roll and pitch cyclic contribution. I can add these. I still want to keep total cyclic contribution though....

Added roll and pitch cyclic. Moved the logging call to be inside of log_write_heli() instead of a separate function. Re-tested single heli. Outputs appear sensible and match measurements from blade...

Rebased

I have done as @IamPete1 suggested and I am much happier with the PR as a result. Most of the logging has been pushed into the swashplate lib. We still...

When reviewing flight test log I spotted a bug that crept in one of the reworks. Swashplate receives the scaled collective value so to calculate the correct blade angle contribution...

From my point of view this PR is ready to go in. It has had a fair bit of real world testing on single heli and maths has been confirmed...

 Made those changes and tested logging IRL in the office. Only had a downward facing LiDaR fitted so only the first instance of SURF is populated with data in...

Apologies, I cannot make the call this evening, but this PR has been through a few reviews now and I am hopeful that it is good to go. As a...