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This diff has been restricted to the following files: 'motor.c'

#
# old_revision [4f22e7ef7d3064e3b51a5b868a4722f3f13c747b]
# new_revision [9ca449dd7941ad52e33bdcb5c28b2ba35d54219a]
#
# patch "motor.c"
#  from [3772a98b596df907c16e491694c952392f804893]
#    to [743afb567c758bd114cb1dd29f25081f3454108c]
#
============================================================
--- motor.c	3772a98b596df907c16e491694c952392f804893
+++ motor.c	743afb567c758bd114cb1dd29f25081f3454108c
@@ -5,6 +5,7 @@
 #include "dcm.h"
 #include "uart.h"
 #include "status.h"
+#include "log.h"
 
 float integral[3] = {0.0f, 0.0f, 0.0f};
 float last[3];
@@ -33,7 +34,7 @@ void motor_pid_update(float troll, float
 {
 	float derivative[3];
 	float out[3];
-	float motor[3];
+	float motor[4];
 	float roll, pitch, yaw;
 	float error, max_error;
 	float min_motor;
@@ -145,6 +146,11 @@ void motor_pid_update(float troll, float
 	set_thrust(1, motor[1]);
 	set_thrust(2, motor[2]);
 	set_thrust(3, motor[3]);
+
+	log_put_uint16((unsigned int) (motor[0] * 65535));
+	log_put_uint16((unsigned int) (motor[1] * 65535));
+	log_put_uint16((unsigned int) (motor[2] * 65535));
+	log_put_uint16((unsigned int) (motor[3] * 65535));
 }
 
 void motor_kill(void) {