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Sub: use ahrs singleton to log ATT, POS and AHRS2

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Peter Barker 2019-10-24 11:33:31 +11:00 committed by Peter Barker
parent 1d99fbebc9
commit 3cd66dbdd9
1 changed files with 3 additions and 3 deletions
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6
ArduSub/Log.cpp
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@ -55,14 +55,14 @@ void Sub::Log_Write_Attitude()
{ {
Vector3f targets = attitude_control.get_att_target_euler_cd(); Vector3f targets = attitude_control.get_att_target_euler_cd();
targets.z = wrap_360_cd(targets.z); targets.z = wrap_360_cd(targets.z);
logger.Write_Attitude(ahrs, targets); logger.Write_Attitude(targets);
AP::ahrs_navekf().Log_Write(); AP::ahrs_navekf().Log_Write();
logger.Write_AHRS2(ahrs); logger.Write_AHRS2();
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
sitl.Log_Write_SIMSTATE(); sitl.Log_Write_SIMSTATE();
#endif #endif
logger.Write_POS(ahrs); logger.Write_POS();
} }
struct PACKED log_MotBatt { struct PACKED log_MotBatt {