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AP_AHRS: remove method casting active EKF type for logging

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logging is now done internally
This commit is contained in:
Peter Barker 2022-07-28 11:07:52 +10:00 committed by Peter Barker
parent 1c78baac72
commit aeb24d4978
2 changed files with 2 additions and 7 deletions
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5
libraries/AP_AHRS/AP_AHRS.h
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@ -371,11 +371,6 @@ public:
// set and save the ALT_M_NSE parameter value
void set_alt_measurement_noise(float noise);
// active EKF type for logging
uint8_t get_active_AHRS_type(void) const {
return uint8_t(active_EKF_type());
}
// get the selected ekf type, for allocation decisions
int8_t get_ekf_type(void) const {
return _ekf_type;

4
libraries/AP_AHRS/AP_AHRS_Logging.cpp
View File

@ -58,7 +58,7 @@ void AP_AHRS::Write_Attitude(const Vector3f &targets) const
yaw : (uint16_t)wrap_360_cd(yaw_sensor),
error_rp : (uint16_t)(get_error_rp() * 100),
error_yaw : (uint16_t)(get_error_yaw() * 100),
active : AP::ahrs().get_active_AHRS_type(),
active : uint8_t(active_EKF_type()),
};
AP::logger().WriteBlock(&pkt, sizeof(pkt));
}
@ -134,7 +134,7 @@ void AP_AHRS_View::Write_AttitudeView(const Vector3f &targets) const
yaw : (uint16_t)wrap_360_cd(yaw_sensor),
error_rp : (uint16_t)(get_error_rp() * 100),
error_yaw : (uint16_t)(get_error_yaw() * 100),
active : AP::ahrs().get_active_AHRS_type()
active : uint8_t(AP::ahrs().active_EKF_type()),
};
AP::logger().WriteBlock(&pkt, sizeof(pkt));
}