Real-time Plotting of Rate Achieved vs. Desired Values

Hello all,

I feel like I must be missing the forest for the trees here, but is there an existing MAVLink message that contains the desired attitude rates? I’d like to be able to do real-time plots (via MAVLink Inspector in QGC) of the achieved vs. desired values, for tuning the inner loops - the GCS_PID_MASK parameter only handles the attitude loops, if I’m not mistaken?

Alternatively, how are people tuning the rate loops, other than using the autotuner? Fly, step inputs, shut down, pull/review logs, repeat?

Thanks!

Regards,
-Luke

Well… Now I feel a bit stupid. Rereading documentation and doing a bit of testing, the PID message is for the rate loops. I don’t know why I thought it was for attitude; got my wires crossed there.

Obviously, the logical follow-up question is can I do the exact same plot except for the attitude setpoints? (i.e. I tune the inner/rate loops, now I want to tune the outer/attitude loops?) Again, I see the achieved vs. desired attitude variables in the onboard logs - are those downlinked?

Regards,
-Luke