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Sub: use ins singleton

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This commit is contained in:
Peter Barker 2018-03-10 21:14:20 +11:00 committed by Lucas De Marchi
parent a0b35cfa25
commit 78ca188dc3
2 changed files with 3 additions and 3 deletions
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4
ArduSub/ArduSub.cpp
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@ -207,7 +207,7 @@ void Sub::ten_hz_logging_loop()
pos_control.write_log(); pos_control.write_log();
} }
if (should_log(MASK_LOG_IMU) || should_log(MASK_LOG_IMU_FAST) || should_log(MASK_LOG_IMU_RAW)) { if (should_log(MASK_LOG_IMU) || should_log(MASK_LOG_IMU_FAST) || should_log(MASK_LOG_IMU_RAW)) {
DataFlash.Log_Write_Vibration(ins); DataFlash.Log_Write_Vibration();
} }
if (should_log(MASK_LOG_CTUN)) { if (should_log(MASK_LOG_CTUN)) {
attitude_control.control_monitor_log(); attitude_control.control_monitor_log();
@ -231,7 +231,7 @@ void Sub::twentyfive_hz_logging()
// log IMU data if we're not already logging at the higher rate // log IMU data if we're not already logging at the higher rate
if (should_log(MASK_LOG_IMU) && !should_log(MASK_LOG_IMU_RAW)) { if (should_log(MASK_LOG_IMU) && !should_log(MASK_LOG_IMU_RAW)) {
DataFlash.Log_Write_IMU(ins); DataFlash.Log_Write_IMU();
} }
} }

2
ArduSub/Sub.h
View File

@ -188,7 +188,7 @@ private:
// Inertial Navigation EKF // Inertial Navigation EKF
NavEKF2 EKF2{&ahrs, rangefinder}; NavEKF2 EKF2{&ahrs, rangefinder};
NavEKF3 EKF3{&ahrs, rangefinder}; NavEKF3 EKF3{&ahrs, rangefinder};
AP_AHRS_NavEKF ahrs{ins, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF}; AP_AHRS_NavEKF ahrs{EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
SITL::SITL sitl; SITL::SITL sitl;