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https://github.com/ArduPilot/ardupilot
synced 2025-01-03 06:28:27 -04:00
ArduSub: privatize AHRS logging
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d605f3aea0
commit
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@ -178,7 +178,7 @@ void Sub::ten_hz_logging_loop()
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// log attitude data if we're not already logging at the higher rate
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// log attitude data if we're not already logging at the higher rate
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if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) {
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if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) {
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Log_Write_Attitude();
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Log_Write_Attitude();
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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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@ -212,7 +212,7 @@ void Sub::twentyfive_hz_logging()
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{
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{
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if (should_log(MASK_LOG_ATTITUDE_FAST)) {
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if (should_log(MASK_LOG_ATTITUDE_FAST)) {
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Log_Write_Attitude();
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Log_Write_Attitude();
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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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@ -55,14 +55,14 @@ void Sub::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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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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