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Plane: RangeFinder now handles RFND logging

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Peter Barker 2019-04-05 20:20:05 +11:00 committed by Peter Barker
parent 3e51d8c7d7
commit a19df642a0
2 changed files with 3 additions and 3 deletions
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5
ArduPlane/Log.cpp
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@ -186,7 +186,8 @@ struct PACKED log_Sonar {
float correction; float correction;
}; };
// Write a sonar packet // Write a sonar packet. Note that RFND log messages are written by
// RangeFinder itself as part of update().
void Plane::Log_Write_Sonar() void Plane::Log_Write_Sonar()
{ {
uint16_t distance = 0; uint16_t distance = 0;
@ -203,8 +204,6 @@ void Plane::Log_Write_Sonar()
correction : rangefinder_state.correction correction : rangefinder_state.correction
}; };
logger.WriteBlock(&pkt, sizeof(pkt)); logger.WriteBlock(&pkt, sizeof(pkt));
logger.Write_RFND(rangefinder);
} }
struct PACKED log_Arm_Disarm { struct PACKED log_Arm_Disarm {

1
ArduPlane/system.cpp
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@ -87,6 +87,7 @@ void Plane::init_ardupilot()
barometer.init(); barometer.init();
// initialise rangefinder // initialise rangefinder
rangefinder.set_log_rfnd_bit(MASK_LOG_SONAR);
rangefinder.init(ROTATION_PITCH_270); rangefinder.init(ROTATION_PITCH_270);
// initialise battery monitoring // initialise battery monitoring