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Rover: use DataFlash should_log to determine raw IMU logging

This commit is contained in:
Peter Barker 2017-06-27 15:26:14 +10:00 committed by Francisco Ferreira
parent 949e07c7e3
commit dcad79bdef
2 changed files with 2 additions and 5 deletions
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2
APMrover2/APMrover2.cpp
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@ -350,8 +350,6 @@ void Rover::one_second_loop(void)
counter = 0; counter = 0;
} }
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
// update home position if not soft armed and gps position has // update home position if not soft armed and gps position has
// changed. Update every 1s at most // changed. Update every 1s at most
if (!hal.util->get_soft_armed() && if (!hal.util->get_soft_armed() &&

5
APMrover2/system.cpp
View File

@ -165,6 +165,8 @@ void Rover::init_ardupilot()
rc_override_active = hal.rcin->set_overrides(rc_override, 8); rc_override_active = hal.rcin->set_overrides(rc_override, 8);
ins.set_log_raw_bit(MASK_LOG_IMU_RAW);
set_control_channels(); set_control_channels();
init_rc_in(); // sets up rc channels from radio init_rc_in(); // sets up rc channels from radio
init_rc_out(); // sets up the timer libs init_rc_out(); // sets up the timer libs
@ -259,9 +261,6 @@ void Rover::startup_ground(void)
// so set serial ports non-blocking once we are ready to drive // so set serial ports non-blocking once we are ready to drive
serial_manager.set_blocking_writes_all(false); serial_manager.set_blocking_writes_all(false);
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
ins.set_dataflash(&DataFlash);
gcs_send_text(MAV_SEVERITY_INFO, "Ready to drive"); gcs_send_text(MAV_SEVERITY_INFO, "Ready to drive");
} }