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Copter: move responsibility for logging into library

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This commit is contained in:
Peter Barker 2019-03-25 23:42:58 +11:00 committed by Andrew Tridgell
parent 89f43c0318
commit 5d996a289a
2 changed files with 1 additions and 4 deletions
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4
ArduCopter/ArduCopter.cpp
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@ -310,10 +310,6 @@ void Copter::update_batt_compass(void)
compass.set_throttle(motors->get_throttle()); compass.set_throttle(motors->get_throttle());
compass.set_voltage(battery.voltage()); compass.set_voltage(battery.voltage());
compass.read(); compass.read();
// log compass information
if (should_log(MASK_LOG_COMPASS) && !ahrs.have_ekf_logging()) {
logger.Write_Compass();
}
} }
} }

1
ArduCopter/system.cpp
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@ -137,6 +137,7 @@ void Copter::init_ardupilot()
gps.set_log_gps_bit(MASK_LOG_GPS); gps.set_log_gps_bit(MASK_LOG_GPS);
gps.init(serial_manager); gps.init(serial_manager);
AP::compass().set_log_bit(MASK_LOG_COMPASS);
AP::compass().init(); AP::compass().init();
#if OPTFLOW == ENABLED #if OPTFLOW == ENABLED