Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

ArduSub: privatize AHRS logging

Browse Source
This commit is contained in:
Josh Henderson 2021-01-09 03:07:51 -05:00 committed by Peter Barker
parent d605f3aea0
commit aaa1341b75
2 changed files with 5 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduSub/ArduSub.cpp
View File

@ -178,7 +178,7 @@ void Sub::ten_hz_logging_loop()
// 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();
logger.Write_Rate(&ahrs_view, motors, attitude_control, pos_control);
ahrs_view.Write_Rate(motors, attitude_control, pos_control);
if (should_log(MASK_LOG_PID)) {
logger.Write_PID(LOG_PIDR_MSG, attitude_control.get_rate_roll_pid().get_pid_info());
logger.Write_PID(LOG_PIDP_MSG, attitude_control.get_rate_pitch_pid().get_pid_info());
@ -212,7 +212,7 @@ void Sub::twentyfive_hz_logging()
{
if (should_log(MASK_LOG_ATTITUDE_FAST)) {
Log_Write_Attitude();
logger.Write_Rate(&ahrs_view, motors, attitude_control, pos_control);
ahrs_view.Write_Rate(motors, attitude_control, pos_control);
if (should_log(MASK_LOG_PID)) {
logger.Write_PID(LOG_PIDR_MSG, attitude_control.get_rate_roll_pid().get_pid_info());
logger.Write_PID(LOG_PIDP_MSG, attitude_control.get_rate_pitch_pid().get_pid_info());

6
ArduSub/Log.cpp
View File

@ -55,14 +55,14 @@ void Sub::Log_Write_Attitude()
{
Vector3f targets = attitude_control.get_att_target_euler_cd();
targets.z = wrap_360_cd(targets.z);
logger.Write_Attitude(targets);
ahrs.Write_Attitude(targets);
AP::ahrs_navekf().Log_Write();
logger.Write_AHRS2();
ahrs.Write_AHRS2();
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
sitl.Log_Write_SIMSTATE();
#endif
logger.Write_POS();
ahrs.Write_POS();
}
struct PACKED log_MotBatt {