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Copter: remove armed check before logging

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This commit is contained in:
Randy Mackay 2014-01-07 22:41:56 +09:00
parent 84881470b1
commit 1793ee804e
2 changed files with 18 additions and 18 deletions
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34
ArduCopter/ArduCopter.pde
View File

@ -1099,7 +1099,7 @@ static void update_batt_compass(void)
compass.null_offsets();
}
// log compass information
if (motors.armed() && (g.log_bitmask & MASK_LOG_COMPASS)) {
if (g.log_bitmask & MASK_LOG_COMPASS) {
Log_Write_Compass();
}
}
@ -1113,16 +1113,14 @@ static void update_batt_compass(void)
// should be run at 10hz
static void ten_hz_logging_loop()
{
if(motors.armed()) {
if (g.log_bitmask & MASK_LOG_ATTITUDE_MED) {
Log_Write_Attitude();
}
if (g.log_bitmask & MASK_LOG_RCIN) {
DataFlash.Log_Write_RCIN();
}
if (g.log_bitmask & MASK_LOG_RCOUT) {
DataFlash.Log_Write_RCOUT();
}
if (g.log_bitmask & MASK_LOG_ATTITUDE_MED) {
Log_Write_Attitude();
}
if (g.log_bitmask & MASK_LOG_RCIN) {
DataFlash.Log_Write_RCIN();
}
if (g.log_bitmask & MASK_LOG_RCOUT) {
DataFlash.Log_Write_RCOUT();
}
}
@ -1135,13 +1133,14 @@ static void fifty_hz_logging_loop()
gcs_send_message(MSG_RADIO_OUT);
#endif
# if HIL_MODE == HIL_MODE_DISABLED
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST && motors.armed()) {
#if HIL_MODE == HIL_MODE_DISABLED
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST) {
Log_Write_Attitude();
}
if (g.log_bitmask & MASK_LOG_IMU && motors.armed())
if (g.log_bitmask & MASK_LOG_IMU) {
DataFlash.Log_Write_IMU(ins);
}
#endif
}
@ -1180,8 +1179,9 @@ static void one_hz_loop()
wp_nav.set_lean_angle_max(g.angle_max);
// log battery info to the dataflash
if ((g.log_bitmask & MASK_LOG_CURRENT) && motors.armed())
if (g.log_bitmask & MASK_LOG_CURRENT) {
Log_Write_Current();
}
// perform pre-arm checks & display failures every 30 seconds
static uint8_t pre_arm_display_counter = 15;
@ -1256,7 +1256,7 @@ static void update_GPS(void)
last_gps_reading = g_gps->last_message_time_ms();
// log GPS message
if ((g.log_bitmask & MASK_LOG_GPS) && motors.armed()) {
if (g.log_bitmask & MASK_LOG_GPS) {
DataFlash.Log_Write_GPS(g_gps, current_loc.alt);
}
@ -2092,7 +2092,7 @@ static void update_altitude()
#endif // HIL_MODE == HIL_MODE_ATTITUDE
// write altitude info to dataflash logs
if ((g.log_bitmask & MASK_LOG_CTUN) && motors.armed()) {
if (g.log_bitmask & MASK_LOG_CTUN) {
Log_Write_Control_Tuning();
}
}

2
ArduCopter/inertia.pde
View File

@ -8,7 +8,7 @@ static void read_inertia()
// inertial altitude estimates
inertial_nav.update(G_Dt);
if( motors.armed() && (g.log_bitmask & MASK_LOG_INAV) ) {
if (g.log_bitmask & MASK_LOG_INAV) {
log_counter_inav++;
if( log_counter_inav >= 10 ) {
log_counter_inav = 0;