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DataFlash: use INS_USE to prevent logging of unused IMUs

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This commit is contained in:
Andrew Tridgell 2016-05-05 12:16:16 +10:00
parent 3853aa0fe3
commit 6aa02f06a9
1 changed files with 2 additions and 2 deletions
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4
libraries/DataFlash/LogFile.cpp
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@ -950,7 +950,7 @@ void DataFlash_Class::Log_Write_IMUDT(const AP_InertialSensor &ins)
delta_vel_z : delta_velocity.z
};
WriteBlock(&pkt, sizeof(pkt));
if (ins.get_gyro_count() < 2 && ins.get_accel_count() < 2) {
if ((ins.get_gyro_count() < 2 && ins.get_accel_count() < 2) || !ins.use_gyro(1)) {
return;
}
@ -977,7 +977,7 @@ void DataFlash_Class::Log_Write_IMUDT(const AP_InertialSensor &ins)
};
WriteBlock(&pkt2, sizeof(pkt2));
if (ins.get_gyro_count() < 3 && ins.get_accel_count() < 3) {
if ((ins.get_gyro_count() < 3 && ins.get_accel_count() < 3) || !ins.use_gyro(2)) {
return;
}
delta_vel_t = ins.get_delta_velocity_dt(1);