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ArudCopter: privatize AHRS logging

This commit is contained in:
Josh Henderson 2021-01-09 03:09:35 -05:00 committed by Peter Barker
parent 8ce5113c74
commit 9daa3bbdaa
1 changed files with 4 additions and 4 deletions
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8
ArduCopter/Log.cpp
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@ -69,8 +69,8 @@ void Copter::Log_Write_Attitude()
{
Vector3f targets = attitude_control->get_att_target_euler_cd();
targets.z = wrap_360_cd(targets.z);
logger.Write_Attitude(targets);
logger.Write_Rate(ahrs_view, *motors, *attitude_control, *pos_control);
ahrs.Write_Attitude(targets);
ahrs_view->Write_Rate(*motors, *attitude_control, *pos_control);
if (should_log(MASK_LOG_PID)) {
logger.Write_PID(LOG_PIDR_MSG, attitude_control->get_rate_roll_pid().get_pid_info());
logger.Write_PID(LOG_PIDP_MSG, attitude_control->get_rate_pitch_pid().get_pid_info());
@ -83,11 +83,11 @@ void Copter::Log_Write_Attitude()
void Copter::Log_Write_EKF_POS()
{
AP::ahrs_navekf().Log_Write();
logger.Write_AHRS2();
ahrs.Write_AHRS2();
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
sitl.Log_Write_SIMSTATE();
#endif
logger.Write_POS();
ahrs.Write_POS();
}
struct PACKED log_MotBatt {