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Copter: added raw RFND logging

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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
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ArduCopter/sensors.cpp
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@ -39,6 +39,11 @@ void Copter::read_rangefinder(void)
#if RANGEFINDER_ENABLED == ENABLED #if RANGEFINDER_ENABLED == ENABLED
rangefinder.update(); 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)); rangefinder_state.alt_healthy = ((rangefinder.status() == RangeFinder::RangeFinder_Good) && (rangefinder.range_valid_count() >= RANGEFINDER_HEALTH_MAX));
int16_t temp_alt = rangefinder.distance_cm(); int16_t temp_alt = rangefinder.distance_cm();