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AP_Airspeed: log airspeed primary changes

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This commit is contained in:
Peter Barker 2022-05-13 14:02:24 +10:00 committed by Andrew Tridgell
parent 016c9d8239
commit 19190fb134
1 changed files with 7 additions and 0 deletions
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7
libraries/AP_Airspeed/AP_Airspeed.cpp
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@ -637,6 +637,10 @@ void AP_Airspeed::update()
}
#endif
#if HAL_LOGGING_ENABLED
const uint8_t old_primary = primary;
#endif
// setup primary
if (healthy(primary_sensor.get())) {
primary = primary_sensor.get();
@ -652,6 +656,9 @@ void AP_Airspeed::update()
check_sensor_failures();
#if HAL_LOGGING_ENABLED
if (primary != old_primary) {
AP::logger().Write_Event(LogEvent::AIRSPEED_PRIMARY_CHANGED);
}
if (_log_bit != (uint32_t)-1 && AP::logger().should_log(_log_bit)) {
Log_Airspeed();
}