Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 15:53:56 -04:00
Code Issues Packages Projects Releases Wiki Activity

DataFlash: fixed dual sensor dataflash logging

Browse Source
This commit is contained in:
Andrew Tridgell 2013-12-10 14:06:57 +11:00
parent 059324f9da
commit 513f4074ce
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/DataFlash/LogFile.cpp
View File

@ -688,8 +688,8 @@ void DataFlash_Class::Log_Write_RCOUT(void)
void DataFlash_Class::Log_Write_IMU(const AP_InertialSensor &ins)
{
uint32_t tstamp = hal.scheduler->millis();
const Vector3f &gyro = ins.get_gyro();
const Vector3f &accel = ins.get_accel();
const Vector3f &gyro = ins.get_gyro(0);
const Vector3f &accel = ins.get_accel(0);
struct log_IMU pkt = {
LOG_PACKET_HEADER_INIT(LOG_IMU_MSG),
timestamp : tstamp,
@ -704,8 +704,8 @@ void DataFlash_Class::Log_Write_IMU(const AP_InertialSensor &ins)
if (ins.get_gyro_count() < 2 && ins.get_accel_count() < 2) {
return;
}
const Vector3f &gyro2 = ins.get_gyro();
const Vector3f &accel2 = ins.get_accel();
const Vector3f &gyro2 = ins.get_gyro(1);
const Vector3f &accel2 = ins.get_accel(1);
struct log_IMU pkt2 = {
LOG_PACKET_HEADER_INIT(LOG_IMU2_MSG),
timestamp : tstamp,