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DataFlash: fixed dual sensor dataflash logging

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