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