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Plane: ensure we log both GPS at the time we receive a msg

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This commit is contained in:
Andrew Tridgell 2014-04-10 10:29:53 +10:00
parent 95304e27c9
commit 4d990fa6c8
2 changed files with 10 additions and 8 deletions
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12
ArduPlane/ArduPlane.pde
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@ -1009,13 +1009,15 @@ static void airspeed_ratio_update(void)
*/ */
static void update_GPS_50Hz(void) static void update_GPS_50Hz(void)
{ {
static uint32_t last_gps_reading; static uint32_t last_gps_reading[GPS_MAX_INSTANCES];
gps.update(); gps.update();
if (gps.last_message_time_ms() != last_gps_reading) { for (uint8_t i=0; i<gps.num_sensors(); i++) {
last_gps_reading = gps.last_message_time_ms(); if (gps.last_message_time_ms(i) != last_gps_reading[i]) {
if (should_log(MASK_LOG_GPS)) { last_gps_reading[i] = gps.last_message_time_ms(i);
Log_Write_GPS(); if (should_log(MASK_LOG_GPS)) {
Log_Write_GPS(i);
}
} }
} }
} }

6
ArduPlane/Log.pde
View File

@ -491,9 +491,9 @@ static void Log_Write_Compass()
#endif #endif
} }
static void Log_Write_GPS(void) static void Log_Write_GPS(uint8_t instance)
{ {
DataFlash.Log_Write_GPS(gps, current_loc.alt - ahrs.get_home().alt); DataFlash.Log_Write_GPS(gps, instance, current_loc.alt - ahrs.get_home().alt);
} }
static void Log_Write_IMU() static void Log_Write_IMU()
@ -612,7 +612,7 @@ static void Log_Write_Control_Tuning() {}
static void Log_Write_Camera() {} static void Log_Write_Camera() {}
static void Log_Write_Mode(uint8_t mode) {} static void Log_Write_Mode(uint8_t mode) {}
static void Log_Write_Compass() {} static void Log_Write_Compass() {}
static void Log_Write_GPS() {} static void Log_Write_GPS(uint8_t instance) {}
static void Log_Write_IMU() {} static void Log_Write_IMU() {}
static void Log_Write_RC() {} static void Log_Write_RC() {}
static void Log_Write_Airspeed(void) {} static void Log_Write_Airspeed(void) {}