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Copter: remove duplicate IMU/ATT logging

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Previously IMU and ATT data could be logged at both a high rate
and a low rate.  This patch makes it skip the low rate logging
if the high rate is enabled
This commit is contained in:
Randy Mackay 2015-04-20 11:23:57 +09:00
parent 06b3935beb
commit a27f383612
1 changed files with 4 additions and 2 deletions
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6
ArduCopter/ArduCopter.pde
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@ -965,7 +965,8 @@ static void update_batt_compass(void)
// should be run at 10hz
static void ten_hz_logging_loop()
{
if (should_log(MASK_LOG_ATTITUDE_MED)) {
// log attitude data if we're not already logging at the higher rate
if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) {
Log_Write_Attitude();
Log_Write_Rate();
}
@ -998,7 +999,8 @@ static void fifty_hz_logging_loop()
Log_Write_Rate();
}
if (should_log(MASK_LOG_IMU)) {
// log IMU data if we're not already logging at the higher rate
if (should_log(MASK_LOG_IMU) && !should_log(MASK_LOG_IMU_FAST)) {
DataFlash.Log_Write_IMU(ins);
}
#endif