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

#
# old_revision [5a7404c7ee458d3eab4b0548e4bc6b6a8b26135f]
# new_revision [056a532c92301bcb224e1f786c5f6720e8acf3eb]
#
# patch "motor.c"
#  from [0a5cff753a89545c1d3f23027cfb4f651db669cd]
#    to [743afb567c758bd114cb1dd29f25081f3454108c]
#
============================================================
--- motor.c	0a5cff753a89545c1d3f23027cfb4f651db669cd
+++ motor.c	743afb567c758bd114cb1dd29f25081f3454108c
@@ -5,14 +5,15 @@
 #include "dcm.h"
 #include "uart.h"
 #include "status.h"
+#include "log.h"
 
 float integral[3] = {0.0f, 0.0f, 0.0f};
 float last[3];
 
 float throttle = 0.0f;
 
-#define Kp 0.3
-#define Ki 0.02
+#define Kp 0.2
+#define Ki 0.04
 #define Kd 0.08
 #define Ka 0.0
 
@@ -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) {