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

This commit is contained in:
Peter Barker 2019-10-24 11:32:56 +11:00 committed by Peter Barker
parent 3fff2eaf6d
commit 52ec1dba5e
1 changed files with 3 additions and 3 deletions
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6
AntennaTracker/Log.cpp
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@ -10,13 +10,13 @@ void Tracker::Log_Write_Attitude()
Vector3f targets; Vector3f targets;
targets.y = nav_status.pitch * 100.0f; targets.y = nav_status.pitch * 100.0f;
targets.z = wrap_360_cd(nav_status.bearing * 100.0f); targets.z = wrap_360_cd(nav_status.bearing * 100.0f);
logger.Write_Attitude(ahrs, targets); logger.Write_Attitude(targets);
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_Vehicle_Baro { struct PACKED log_Vehicle_Baro {