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Copter: RangeFinder now handles RFND logging

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Peter Barker 2019-04-05 20:19:58 +11:00 committed by Peter Barker
parent 540d4ae796
commit 3e51d8c7d7
1 changed files with 1 additions and 5 deletions
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6
ArduCopter/sensors.cpp
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@ -13,6 +13,7 @@ void Copter::read_barometer(void)
void Copter::init_rangefinder(void) void Copter::init_rangefinder(void)
{ {
#if RANGEFINDER_ENABLED == ENABLED #if RANGEFINDER_ENABLED == ENABLED
rangefinder.set_log_rfnd_bit(MASK_LOG_CTUN);
rangefinder.init(ROTATION_PITCH_270); rangefinder.init(ROTATION_PITCH_270);
rangefinder_state.alt_cm_filt.set_cutoff_frequency(RANGEFINDER_WPNAV_FILT_HZ); rangefinder_state.alt_cm_filt.set_cutoff_frequency(RANGEFINDER_WPNAV_FILT_HZ);
rangefinder_state.enabled = rangefinder.has_orientation(ROTATION_PITCH_270); rangefinder_state.enabled = rangefinder.has_orientation(ROTATION_PITCH_270);
@ -25,11 +26,6 @@ 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)) {
logger.Write_RFND(rangefinder);
}
rangefinder_state.alt_healthy = ((rangefinder.status_orient(ROTATION_PITCH_270) == RangeFinder::RangeFinder_Good) && (rangefinder.range_valid_count_orient(ROTATION_PITCH_270) >= RANGEFINDER_HEALTH_MAX)); rangefinder_state.alt_healthy = ((rangefinder.status_orient(ROTATION_PITCH_270) == RangeFinder::RangeFinder_Good) && (rangefinder.range_valid_count_orient(ROTATION_PITCH_270) >= RANGEFINDER_HEALTH_MAX));
int16_t temp_alt = rangefinder.distance_cm_orient(ROTATION_PITCH_270); int16_t temp_alt = rangefinder.distance_cm_orient(ROTATION_PITCH_270);