From 5c8c9613991e2abae52c197f53668e678f6be82f Mon Sep 17 00:00:00 2001 From: Josh Henderson Date: Fri, 22 Jan 2021 00:26:49 -0500 Subject: [PATCH] ArduPlane: Privatize AP_IntertialSensor Logging --- ArduPlane/ArduPlane.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp index 224c1b8526..c022c3d8cf 100644 --- a/ArduPlane/ArduPlane.cpp +++ b/ArduPlane/ArduPlane.cpp @@ -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(); }