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AP_AHRS: move logging of SIMSTATE, AHRS2 and POS into AP_AHRS library

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Peter Barker 2022-01-24 17:23:44 +11:00 committed by Andrew Tridgell
parent 2cda59c09d
commit bd069cc5e9
2 changed files with 12 additions and 2 deletions
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7
libraries/AP_AHRS/AP_AHRS.cpp
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@ -3080,6 +3080,13 @@ void AP_AHRS::Log_Write()
#if HAL_NAVEKF3_AVAILABLE #if HAL_NAVEKF3_AVAILABLE
EKF3.Log_Write(); EKF3.Log_Write();
#endif #endif
Write_AHRS2();
Write_POS();
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
AP::sitl()->Log_Write_SIMSTATE();
#endif
} }
// check if non-compass sensor is providing yaw. Allows compass pre-arm checks to be bypassed // check if non-compass sensor is providing yaw. Allows compass pre-arm checks to be bypassed

7
libraries/AP_AHRS/AP_AHRS.h
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@ -427,7 +427,6 @@ public:
// Logging functions // Logging functions
void Log_Write_Home_And_Origin(); void Log_Write_Home_And_Origin();
void Write_AHRS2(void) const;
void Write_Attitude(const Vector3f &targets) const; void Write_Attitude(const Vector3f &targets) const;
enum class LogOriginType { enum class LogOriginType {
@ -435,7 +434,6 @@ public:
ahrs_home = 1 ahrs_home = 1
}; };
void Write_Origin(LogOriginType origin_type, const Location &loc) const; void Write_Origin(LogOriginType origin_type, const Location &loc) const;
void Write_POS(void) const;
void write_video_stabilisation() const; void write_video_stabilisation() const;
// return a smoothed and corrected gyro vector in radians/second // return a smoothed and corrected gyro vector in radians/second
@ -831,6 +829,11 @@ private:
*/ */
void copy_estimates_from_backend_estimates(const AP_AHRS_Backend::Estimates &results); void copy_estimates_from_backend_estimates(const AP_AHRS_Backend::Estimates &results);
// write out secondary estimates:
void Write_AHRS2(void) const;
// write POS (canonical vehicle position) message out:
void Write_POS(void) const;
#if HAL_NMEA_OUTPUT_ENABLED #if HAL_NMEA_OUTPUT_ENABLED
class AP_NMEA_Output* _nmea_out; class AP_NMEA_Output* _nmea_out;
#endif #endif