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DataFlash: simplify Log_Write_Proximity

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khancyr 2017-07-14 18:00:21 +01:00 committed by Francisco Ferreira
parent 88aa1e447a
commit 42516f7079
1 changed files with 10 additions and 17 deletions
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27
libraries/DataFlash/LogFile.cpp
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@ -1934,15 +1934,8 @@ void DataFlash_Class::Log_Write_Proximity(AP_Proximity &proximity)
return;
}
float sector_distance[8] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f};
proximity.get_horizontal_distance(0.0f, sector_distance[0]);
proximity.get_horizontal_distance(45.0f, sector_distance[1]);
proximity.get_horizontal_distance(90.0f, sector_distance[2]);
proximity.get_horizontal_distance(135.0f, sector_distance[3]);
proximity.get_horizontal_distance(180.0f, sector_distance[4]);
proximity.get_horizontal_distance(225.0f, sector_distance[5]);
proximity.get_horizontal_distance(270.0f, sector_distance[6]);
proximity.get_horizontal_distance(315.0f, sector_distance[7]);
AP_Proximity::Proximity_Distance_Array dist_array {};
proximity.get_horizontal_distances(dist_array);
float dist_up;
if (!proximity.get_upward_distance(dist_up)) {
@ -1956,14 +1949,14 @@ void DataFlash_Class::Log_Write_Proximity(AP_Proximity &proximity)
LOG_PACKET_HEADER_INIT(LOG_PROXIMITY_MSG),
time_us : AP_HAL::micros64(),
health : (uint8_t)proximity.get_status(),
dist0 : sector_distance[0],
dist45 : sector_distance[1],
dist90 : sector_distance[2],
dist135 : sector_distance[3],
dist180 : sector_distance[4],
dist225 : sector_distance[5],
dist270 : sector_distance[6],
dist315 : sector_distance[7],
dist0 : dist_array.distance[0],
dist45 : dist_array.distance[1],
dist90 : dist_array.distance[2],
dist135 : dist_array.distance[3],
dist180 : dist_array.distance[4],
dist225 : dist_array.distance[5],
dist270 : dist_array.distance[6],
dist315 : dist_array.distance[7],
distup : dist_up,
closest_angle : close_ang,
closest_dist : close_dist