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

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This commit is contained in:
Peter Barker 2019-10-24 11:33:14 +11:00 committed by Andrew Tridgell
parent 8948d736c1
commit 45d080bc55
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/Log.cpp
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@ -72,7 +72,7 @@ void Copter::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);
logger.Write_Rate(ahrs_view, *motors, *attitude_control, *pos_control); logger.Write_Rate(ahrs_view, *motors, *attitude_control, *pos_control);
if (should_log(MASK_LOG_PID)) { if (should_log(MASK_LOG_PID)) {
logger.Write_PID(LOG_PIDR_MSG, attitude_control->get_rate_roll_pid().get_pid_info()); logger.Write_PID(LOG_PIDR_MSG, attitude_control->get_rate_roll_pid().get_pid_info());
@ -86,11 +86,11 @@ void Copter::Log_Write_Attitude()
void Copter::Log_Write_EKF_POS() void Copter::Log_Write_EKF_POS()
{ {
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 {