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Sub: use DataFlash should_log to determine raw IMU logging

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Peter Barker 2017-06-27 16:36:18 +10:00 committed by Francisco Ferreira
parent dcad79bdef
commit 7cd794201e
2 changed files with 1 additions and 5 deletions
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3
ArduSub/ArduSub.cpp
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@ -378,9 +378,6 @@ void Sub::one_hz_loop()
// update position controller alt limits // update position controller alt limits
update_poscon_alt_max(); update_poscon_alt_max();
// enable/disable raw gyro/accel logging
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
// log terrain data // log terrain data
terrain_logging(); terrain_logging();
} }

3
ArduSub/system.cpp
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@ -179,8 +179,7 @@ void Sub::init_ardupilot()
// enable CPU failsafe // enable CPU failsafe
mainloop_failsafe_enable(); mainloop_failsafe_enable();
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW)); ins.set_log_raw_bit(MASK_LOG_IMU_RAW);
ins.set_dataflash(&DataFlash);
// init vehicle capabilties // init vehicle capabilties
init_capabilities(); init_capabilities();