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Sub: Write_Rate() moved to AC_AttitudeControl

This commit is contained in:
Andy Piper 2024-09-04 10:13:20 +01:00 committed by Peter Hall
parent 8596466d5a
commit b255b70661
1 changed files with 2 additions and 2 deletions
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4
ArduSub/ArduSub.cpp
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@ -183,7 +183,7 @@ void Sub::ten_hz_logging_loop()
// log attitude data if we're not already logging at the higher rate // 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)) { if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) {
Log_Write_Attitude(); Log_Write_Attitude();
ahrs_view.Write_Rate(motors, attitude_control, pos_control); attitude_control.Write_Rate(pos_control);
if (should_log(MASK_LOG_PID)) { 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_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()); 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)) { if (should_log(MASK_LOG_ATTITUDE_FAST)) {
Log_Write_Attitude(); Log_Write_Attitude();
ahrs_view.Write_Rate(motors, attitude_control, pos_control); attitude_control.Write_Rate(pos_control);
if (should_log(MASK_LOG_PID)) { 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_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()); logger.Write_PID(LOG_PIDP_MSG, attitude_control.get_rate_pitch_pid().get_pid_info());