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AP_AHRS: rename dataflash to logger

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Tom Pittenger 2019-02-11 00:15:24 -08:00 committed by Peter Barker
parent 966b2652fb
commit a577223ac6
2 changed files with 7 additions and 10 deletions
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12
libraries/AP_AHRS/AP_AHRS.cpp
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@ -472,24 +472,22 @@ Vector2f AP_AHRS::rotate_body_to_earth2D(const Vector2f &bf) const
bf.x * _sin_yaw + bf.y * _cos_yaw); bf.x * _sin_yaw + bf.y * _cos_yaw);
} }
// log ahrs home and EKF origin to dataflash // log ahrs home and EKF origin
void AP_AHRS::Log_Write_Home_And_Origin() void AP_AHRS::Log_Write_Home_And_Origin()
{ {
AP_Logger *df = AP_Logger::get_singleton(); AP_Logger *logger = AP_Logger::get_singleton();
if (df == nullptr) { if (logger == nullptr) {
return; return;
} }
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE
// log ekf origin if set
Location ekf_orig; Location ekf_orig;
if (get_origin(ekf_orig)) { if (get_origin(ekf_orig)) {
df->Write_Origin(LogOriginType::ekf_origin, ekf_orig); logger->Write_Origin(LogOriginType::ekf_origin, ekf_orig);
} }
#endif #endif
// log ahrs home if set
if (home_is_set()) { if (home_is_set()) {
df->Write_Origin(LogOriginType::ahrs_home, _home); logger->Write_Origin(LogOriginType::ahrs_home, _home);
} }
} }

5
libraries/AP_AHRS/AP_AHRS_DCM.cpp
View File

@ -3,7 +3,7 @@
* *
* AHRS system using DCM matrices * AHRS system using DCM matrices
* *
* Based on DCM code by Doug Weibel, Jordi Muñoz and Jose Julio. DIYDrones.com * Based on DCM code by Doug Weibel, Jordi Munoz and Jose Julio. DIYDrones.com
* *
* Adapted for the general ArduPilot AHRS interface by Andrew Tridgell * Adapted for the general ArduPilot AHRS interface by Andrew Tridgell
@ -286,7 +286,7 @@ AP_AHRS_DCM::renorm(Vector3f const &a, Vector3f &result)
* to approximations rather than identities. In effect, the axes in the two frames of reference no * to approximations rather than identities. In effect, the axes in the two frames of reference no
* longer describe a rigid body. Fortunately, numerical error accumulates very slowly, so it is a * longer describe a rigid body. Fortunately, numerical error accumulates very slowly, so it is a
* simple matter to stay ahead of it. * simple matter to stay ahead of it.
* We call the process of enforcing the orthogonality conditions ÒrenormalizationÓ. * We call the process of enforcing the orthogonality conditions: renormalization.
*/ */
void void
AP_AHRS_DCM::normalize(void) AP_AHRS_DCM::normalize(void)
@ -1051,7 +1051,6 @@ bool AP_AHRS_DCM::set_home(const Location &loc)
_home = tmp; _home = tmp;
_home_is_set = true; _home_is_set = true;
// log ahrs home and ekf origin dataflash
Log_Write_Home_And_Origin(); Log_Write_Home_And_Origin();
// send new home and ekf origin to GCS // send new home and ekf origin to GCS