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AP_DAL: avoid logging unused IMU data

This commit is contained in:
Andrew Tridgell 2020-11-08 20:11:58 +11:00
parent 7d7031d3d7
commit fabac94952
1 changed files with 10 additions and 6 deletions
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16
libraries/AP_DAL/AP_DAL_InertialSensor.cpp
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@ -29,15 +29,19 @@ void AP_DAL_InertialSensor::start_frame()
log_RISI &RISI = _RISI[i];
const log_RISI old_RISI = RISI;
// accel stuff
// accel data
RISI.use_accel = ins.use_accel(i);
RISI.get_delta_velocity_ret = ins.get_delta_velocity(i, RISI.delta_velocity);
RISI.delta_velocity_dt = ins.get_delta_velocity_dt(i);
if (RISI.use_accel) {
RISI.get_delta_velocity_ret = ins.get_delta_velocity(i, RISI.delta_velocity);
RISI.delta_velocity_dt = ins.get_delta_velocity_dt(i);
}
// gryo stuff
// gryo data
RISI.use_gyro = ins.use_gyro(i);
RISI.delta_angle_dt = ins.get_delta_angle_dt(i);
RISI.get_delta_angle_ret = ins.get_delta_angle(i, RISI.delta_angle);
if (RISI.use_gyro) {
RISI.delta_angle_dt = ins.get_delta_angle_dt(i);
RISI.get_delta_angle_ret = ins.get_delta_angle(i, RISI.delta_angle);
}
update_filtered(i);