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Plane: add vibration DF logging and send to GCS

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This commit is contained in:
Randy Mackay 2015-06-12 16:00:06 +09:00
parent 40ed2f7f53
commit 814cb5ce18
2 changed files with 9 additions and 0 deletions
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3
ArduPlane/ArduPlane.cpp
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@ -250,6 +250,9 @@ void Plane::update_logging2(void)
if (should_log(MASK_LOG_RC))
Log_Write_RC();
if (should_log(MASK_LOG_IMU))
DataFlash.Log_Write_Vibration(ins);
}

6
ArduPlane/GCS_Mavlink.cpp
View File

@ -769,6 +769,11 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
CHECK_PAYLOAD_SIZE(PID_TUNING);
plane.send_pid_tuning(chan);
break;
case MSG_VIBRATION:
CHECK_PAYLOAD_SIZE(VIBRATION);
send_vibration(plane.ins);
break;
}
return true;
}
@ -1003,6 +1008,7 @@ GCS_MAVLINK::data_stream_send(void)
send_message(MSG_OPTICAL_FLOW);
send_message(MSG_EKF_STATUS_REPORT);
send_message(MSG_GIMBAL_REPORT);
send_message(MSG_VIBRATION);
}
}