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Plane: log IMUDT

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This commit is contained in:
Randy Mackay 2015-07-13 20:34:33 +09:00
parent 063faa0383
commit b670988e05
1 changed files with 3 additions and 1 deletions
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4
ArduPlane/ArduPlane.cpp
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@ -148,8 +148,10 @@ void Plane::ahrs_update()
Log_Write_Attitude();
}
if (should_log(MASK_LOG_IMU))
if (should_log(MASK_LOG_IMU)) {
Log_Write_IMU();
DataFlash.Log_Write_IMUDT(ins);
}
// calculate a scaled roll limit based on current pitch
roll_limit_cd = g.roll_limit_cd * cosf(ahrs.pitch);