mirror of https://github.com/ArduPilot/ardupilot
ArudCopter: privatize AHRS logging
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8ce5113c74
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@ -69,8 +69,8 @@ void Copter::Log_Write_Attitude()
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{
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{
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Vector3f targets = attitude_control->get_att_target_euler_cd();
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Vector3f targets = attitude_control->get_att_target_euler_cd();
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targets.z = wrap_360_cd(targets.z);
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targets.z = wrap_360_cd(targets.z);
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logger.Write_Attitude(targets);
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ahrs.Write_Attitude(targets);
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logger.Write_Rate(ahrs_view, *motors, *attitude_control, *pos_control);
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ahrs_view->Write_Rate(*motors, *attitude_control, *pos_control);
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if (should_log(MASK_LOG_PID)) {
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if (should_log(MASK_LOG_PID)) {
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logger.Write_PID(LOG_PIDR_MSG, attitude_control->get_rate_roll_pid().get_pid_info());
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logger.Write_PID(LOG_PIDR_MSG, attitude_control->get_rate_roll_pid().get_pid_info());
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logger.Write_PID(LOG_PIDP_MSG, attitude_control->get_rate_pitch_pid().get_pid_info());
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logger.Write_PID(LOG_PIDP_MSG, attitude_control->get_rate_pitch_pid().get_pid_info());
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@ -83,11 +83,11 @@ void Copter::Log_Write_Attitude()
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void Copter::Log_Write_EKF_POS()
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void Copter::Log_Write_EKF_POS()
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{
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{
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AP::ahrs_navekf().Log_Write();
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AP::ahrs_navekf().Log_Write();
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logger.Write_AHRS2();
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ahrs.Write_AHRS2();
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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sitl.Log_Write_SIMSTATE();
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sitl.Log_Write_SIMSTATE();
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#endif
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#endif
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logger.Write_POS();
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ahrs.Write_POS();
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}
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}
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struct PACKED log_MotBatt {
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struct PACKED log_MotBatt {
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