Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: added raw RFND logging

This commit is contained in:
Andrew Tridgell 2016-11-20 16:11:57 +11:00
parent 6c09758447
commit 2ed32a3ac0
1 changed files with 5 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
ArduCopter/sensors.cpp
View File

@ -39,6 +39,11 @@ void Copter::read_rangefinder(void)
#if RANGEFINDER_ENABLED == ENABLED
rangefinder.update();
if (rangefinder.num_sensors() > 0 &&
should_log(MASK_LOG_CTUN)) {
DataFlash.Log_Write_RFND(rangefinder);
}
rangefinder_state.alt_healthy = ((rangefinder.status() == RangeFinder::RangeFinder_Good) && (rangefinder.range_valid_count() >= RANGEFINDER_HEALTH_MAX));
int16_t temp_alt = rangefinder.distance_cm();