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AP_Logger: use ahrs singleton to log ATT, POS and AHRS2

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This commit is contained in:
Peter Barker 2019-10-24 11:32:32 +11:00 committed by Peter Barker
parent d7132928d1
commit c30873097a
2 changed files with 11 additions and 6 deletions
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6
libraries/AP_Logger/AP_Logger.h
View File

@ -245,8 +245,8 @@ public:
void Write_Rally();
void Write_Baro(uint64_t time_us=0);
void Write_Power(void);
void Write_AHRS2(AP_AHRS &ahrs);
void Write_POS(AP_AHRS &ahrs);
void Write_AHRS2();
void Write_POS();
void Write_Radio(const mavlink_radio_t &packet);
void Write_Message(const char *message);
void Write_MessageF(const char *fmt, ...);
@ -254,7 +254,7 @@ public:
void Write_Camera(const Location &current_loc, uint64_t timestamp_us=0);
void Write_Trigger(const Location &current_loc);
void Write_ESC(uint8_t id, uint64_t time_us, int32_t rpm, uint16_t voltage, uint16_t current, int16_t temperature, uint16_t current_tot);
void Write_Attitude(AP_AHRS &ahrs, const Vector3f &targets);
void Write_Attitude(const Vector3f &targets);
void Write_AttitudeView(AP_AHRS_View &ahrs, const Vector3f &targets);
void Write_Current();
void Write_Compass(uint64_t time_us=0);

11
libraries/AP_Logger/LogFile.cpp
View File

@ -488,8 +488,9 @@ void AP_Logger::Write_Power(void)
}
// Write an AHRS2 packet
void AP_Logger::Write_AHRS2(AP_AHRS &ahrs)
void AP_Logger::Write_AHRS2()
{
const AP_AHRS &ahrs = AP::ahrs();
Vector3f euler;
struct Location loc;
Quaternion quat;
@ -514,8 +515,10 @@ void AP_Logger::Write_AHRS2(AP_AHRS &ahrs)
}
// Write a POS packet
void AP_Logger::Write_POS(AP_AHRS &ahrs)
void AP_Logger::Write_POS()
{
const AP_AHRS &ahrs = AP::ahrs();
Location loc;
if (!ahrs.get_position(loc)) {
return;
@ -600,8 +603,10 @@ void AP_Logger::Write_Trigger(const Location &current_loc)
}
// Write an attitude packet
void AP_Logger::Write_Attitude(AP_AHRS &ahrs, const Vector3f &targets)
void AP_Logger::Write_Attitude(const Vector3f &targets)
{
const AP_AHRS &ahrs = AP::ahrs();
const struct log_Attitude pkt{
LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG),
time_us : AP_HAL::micros64(),