Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: fixed attitude logging with fast logging off

This commit is contained in:
Andrew Tridgell 2016-05-02 08:51:13 +10:00
parent 9c90709872
commit eab42c5740
3 changed files with 10 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduPlane/ArduPlane.cpp
View File

@ -74,7 +74,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
SCHED_TASK(update_trigger, 50, 100),
SCHED_TASK(log_perf_info, 0.2, 100),
SCHED_TASK(compass_save, 0.1, 200),
SCHED_TASK(Log_Write_Attitude, 25, 300),
SCHED_TASK(Log_Write_Fast, 25, 300),
SCHED_TASK(update_logging1, 10, 300),
SCHED_TASK(update_logging2, 10, 300),
SCHED_TASK(parachute_check, 10, 200),

11
ArduPlane/Log.cpp
View File

@ -159,9 +159,6 @@ void Plane::do_erase_logs(void)
// Write an attitude packet
void Plane::Log_Write_Attitude(void)
{
if (!should_log(MASK_LOG_ATTITUDE_FAST)) {
return;
}
Vector3f targets; // Package up the targets into a vector for commonality with Copter usage of Log_Wrote_Attitude
targets.x = nav_roll_cd;
targets.y = nav_pitch_cd;
@ -194,6 +191,14 @@ void Plane::Log_Write_Attitude(void)
DataFlash.Log_Write_POS(ahrs);
}
// do logging at loop rate
void Plane::Log_Write_Fast(void)
{
if (should_log(MASK_LOG_ATTITUDE_FAST)) {
Log_Write_Attitude();
}
}
struct PACKED log_Performance {
LOG_PACKET_HEADER;

1
ArduPlane/Plane.h
View File

@ -779,6 +779,7 @@ private:
void gcs_retry_deferred(void);
void do_erase_logs(void);
void Log_Write_Fast(void);
void Log_Write_Attitude(void);
void Log_Write_Performance();
void Log_Write_Startup(uint8_t type);