From 9c52752e167270e7445f2251644afc7acd0e26c7 Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Wed, 15 Dec 2021 19:06:32 +0000 Subject: [PATCH] Copter: add logging bit to log video stab in fast loop --- ArduCopter/Copter.cpp | 4 ++++ ArduCopter/Parameters.cpp | 2 +- ArduCopter/defines.h | 1 + 3 files changed, 6 insertions(+), 1 deletion(-) diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp index bba9839e2d..5d50b5b04b 100644 --- a/ArduCopter/Copter.cpp +++ b/ArduCopter/Copter.cpp @@ -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 diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp index b7ff31eeef..1d37767f13 100644 --- a/ArduCopter/Parameters.cpp +++ b/ArduCopter/Parameters.cpp @@ -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), diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h index 14f9af85f5..fb36ac0c26 100644 --- a/ArduCopter/defines.h +++ b/ArduCopter/defines.h @@ -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)