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ArduPlane: Privatize AP_IntertialSensor Logging

This commit is contained in:
Josh Henderson 2021-01-22 00:26:49 -05:00 committed by Peter Barker
parent a5b984640e
commit 5c8c961399

View File

@ -143,7 +143,7 @@ void Plane::ahrs_update()
ahrs.update();
if (should_log(MASK_LOG_IMU)) {
logger.Write_IMU();
AP::ins().Write_IMU();
}
// calculate a scaled roll limit based on current pitch
@ -207,7 +207,7 @@ void Plane::update_logging1(void)
}
if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_IMU))
logger.Write_IMU();
AP::ins().Write_IMU();
if (should_log(MASK_LOG_ATTITUDE_MED))
ahrs.Write_AOA_SSA();
@ -236,7 +236,7 @@ void Plane::update_logging2(void)
Log_Write_RC();
if (should_log(MASK_LOG_IMU))
logger.Write_Vibration();
AP::ins().Write_Vibration();
}