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Sub: integrate simpler Log_Write_EKF

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This commit is contained in:
Randy Mackay 2017-08-22 12:14:48 +09:00
parent ba6ca9511d
commit 8cd5607231
1 changed files with 1 additions and 5 deletions
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6
ArduSub/Log.cpp
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@ -179,11 +179,7 @@ void Sub::Log_Write_Attitude()
targets.z = wrap_360_cd(targets.z); targets.z = wrap_360_cd(targets.z);
DataFlash.Log_Write_Attitude(ahrs, targets); DataFlash.Log_Write_Attitude(ahrs, targets);
#if OPTFLOW == ENABLED DataFlash.Log_Write_EKF(ahrs);
DataFlash.Log_Write_EKF(ahrs,optflow.enabled());
#else
DataFlash.Log_Write_EKF(ahrs,false);
#endif
DataFlash.Log_Write_AHRS2(ahrs); DataFlash.Log_Write_AHRS2(ahrs);
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
sitl.Log_Write_SIMSTATE(&DataFlash); sitl.Log_Write_SIMSTATE(&DataFlash);