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Copter: add logging bit to log video stab in fast loop

This commit is contained in:
Iampete1 2021-12-15 19:06:32 +00:00 committed by Andrew Tridgell
parent efb04e7f30
commit 9c52752e16
3 changed files with 6 additions and 1 deletions
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4
ArduCopter/Copter.cpp
View File

@ -287,6 +287,10 @@ void Copter::fast_loop()
}
AP_Vehicle::fast_loop();
if (should_log(MASK_LOG_VIDEO_STABILISATION)) {
ahrs.write_video_stabilisation();
}
}
#if AP_SCRIPTING_ENABLED

2
ArduCopter/Parameters.cpp
View File

@ -322,7 +322,7 @@ const AP_Param::Info Copter::var_info[] = {
// @Param: LOG_BITMASK
// @DisplayName: Log bitmask
// @Description: 4 byte bitmap of log types to enable
// @Bitmask: 0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,17:MOTBATT,18:IMU_FAST,19:IMU_RAW
// @Bitmask: 0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,17:MOTBATT,18:IMU_FAST,19:IMU_RAW,20:VideoStabilization
// @User: Standard
GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),

1
ArduCopter/defines.h
View File

@ -143,6 +143,7 @@ enum LoggingParameters {
#define MASK_LOG_MOTBATT (1UL<<17)
#define MASK_LOG_IMU_FAST (1UL<<18)
#define MASK_LOG_IMU_RAW (1UL<<19)
#define MASK_LOG_VIDEO_STABILISATION (1UL<<20)
#define MASK_LOG_ANY 0xFFFF
// Radio failsafe definitions (FS_THR parameter)