From c52578426e8bba2a2e3df32d9705fd0cd45b270f Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sun, 16 Nov 2014 12:31:05 +1100 Subject: [PATCH] Replay: cope with up to 3 IMUs --- Tools/Replay/LogReader.cpp | 30 +++++++++++++++++++++++++----- 1 file changed, 25 insertions(+), 5 deletions(-) diff --git a/Tools/Replay/LogReader.cpp b/Tools/Replay/LogReader.cpp index 6b83e09092..4c8ef85212 100644 --- a/Tools/Replay/LogReader.cpp +++ b/Tools/Replay/LogReader.cpp @@ -27,8 +27,8 @@ LogReader::LogReader(AP_AHRS &_ahrs, AP_InertialSensor &_ins, AP_Baro_HIL &_baro compass(_compass), gps(_gps), airspeed(_airspeed), - accel_mask(3), - gyro_mask(3) + accel_mask(7), + gyro_mask(7) {} bool LogReader::open_log(const char *logfile) @@ -258,9 +258,12 @@ void LogReader::process_copter(uint8_t type, uint8_t *data, uint16_t length) bool LogReader::set_parameter(const char *name, float value) { - if (strcmp(name, "GPS_TYPE") == 0) { - // ignore this one - return true; + const char *ignore_parms[] = { "GPS_TYPE", "AHRS_EKF_USE" }; + for (uint8_t i=0; i