Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-22 08:38:36 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: fix duplicate IMU logging

Browse Source 
IMU logs could be written at FULL rate and at lower rates leading to duplicates
This commit is contained in:
Randy Mackay 2015-06-12 10:03:11 +09:00 committed by Andrew Tridgell
parent 9d81856580
commit 5644dd8620
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduCopter/ArduCopter.cpp
View File

@ -390,7 +390,7 @@ void Copter::fifty_hz_logging_loop()
}
// log IMU data if we're not already logging at the higher rate
if (should_log(MASK_LOG_IMU) && !should_log(MASK_LOG_IMU_FAST)) {
if (should_log(MASK_LOG_IMU) && !(should_log(MASK_LOG_IMU_FAST) || should_log(MASK_LOG_IMU_RAW))) {
DataFlash.Log_Write_IMU(ins);
}
#endif
@ -400,7 +400,7 @@ void Copter::fifty_hz_logging_loop()
// should be run at the MAIN_LOOP_RATE
void Copter::full_rate_logging_loop()
{
if (should_log(MASK_LOG_IMU_FAST)) {
if (should_log(MASK_LOG_IMU_FAST) && !should_log(MASK_LOG_IMU_RAW)) {
DataFlash.Log_Write_IMU(ins);
DataFlash.Log_Write_IMUDT(ins);
}