From b255b706614306bf45d293c9546af8b2cf8a2867 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Wed, 4 Sep 2024 10:13:20 +0100 Subject: [PATCH] Sub: Write_Rate() moved to AC_AttitudeControl --- ArduSub/ArduSub.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp index cf1c6f9abc..b66dc2b644 100644 --- a/ArduSub/ArduSub.cpp +++ b/ArduSub/ArduSub.cpp @@ -183,7 +183,7 @@ 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(); - ahrs_view.Write_Rate(motors, attitude_control, pos_control); + attitude_control.Write_Rate(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()); @@ -222,7 +222,7 @@ void Sub::twentyfive_hz_logging() { if (should_log(MASK_LOG_ATTITUDE_FAST)) { Log_Write_Attitude(); - ahrs_view.Write_Rate(motors, attitude_control, pos_control); + attitude_control.Write_Rate(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());