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Copter: integrate simpler Log_Write_EKF

This commit is contained in:
Randy Mackay 2017-08-22 12:14:37 +09:00
parent e13f4d0d56
commit def17582c6
1 changed files with 1 additions and 5 deletions
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6
ArduCopter/Log.cpp
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@ -239,11 +239,7 @@ void Copter::Log_Write_Attitude()
// Write an EKF and POS packet // Write an EKF and POS packet
void Copter::Log_Write_EKF_POS() void Copter::Log_Write_EKF_POS()
{ {
#if OPTFLOW == ENABLED DataFlash.Log_Write_EKF(ahrs);
DataFlash.Log_Write_EKF(ahrs,optflow.enabled());
#else
DataFlash.Log_Write_EKF(ahrs,false);
#endif
DataFlash.Log_Write_AHRS2(ahrs); DataFlash.Log_Write_AHRS2(ahrs);
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
sitl.Log_Write_SIMSTATE(&DataFlash); sitl.Log_Write_SIMSTATE(&DataFlash);