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Plane: Change Compass logging to new DataFlash method that handles instances.

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This commit is contained in:
Robert Lefebvre 2015-01-16 17:34:44 -05:00 committed by Randy Mackay
parent b8822a42b6
commit 395c868727
2 changed files with 1 additions and 19 deletions
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2
ArduPlane/ArduPlane.pde
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@ -936,7 +936,7 @@ static void update_compass(void)
ahrs.set_compass(&compass);
compass.learn_offsets();
if (should_log(MASK_LOG_COMPASS)) {
Log_Write_Compass();
DataFlash.Log_Write_Compass(compass);
}
} else {
ahrs.set_compass(NULL);

18
ArduPlane/Log.pde
View File

@ -403,23 +403,6 @@ static void Log_Arm_Disarm() {
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Write a Compass packet
static void Log_Write_Compass()
{
DataFlash.Log_Write_Compass(compass, 0);
#if COMPASS_MAX_INSTANCES > 1
if (compass.get_count() > 1) {
DataFlash.Log_Write_Compass(compass, 1);
}
#endif
#if COMPASS_MAX_INSTANCES > 2
if (compass.get_count() > 2) {
DataFlash.Log_Write_Compass(compass, 2);
}
#endif
}
static void Log_Write_GPS(uint8_t instance)
{
DataFlash.Log_Write_GPS(gps, instance, current_loc.alt - ahrs.get_home().alt);
@ -512,7 +495,6 @@ static void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd) {}
static void Log_Write_Attitude() {}
static void Log_Write_Control_Tuning() {}
static void Log_Write_Mode(uint8_t mode) {}
static void Log_Write_Compass() {}
static void Log_Write_GPS(uint8_t instance) {}
static void Log_Write_IMU() {}
static void Log_Write_RC() {}