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AP_Compass: move responsibility for logging into library

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This commit is contained in:
Peter Barker
2019-04-23 10:06:17 +10:00
committed by Andrew Tridgell
parent c6a9130d84
commit bf23f1df67
2 changed files with 11 additions and 1 deletions
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libraries/AP_Compass/AP_Compass.cpp
+5 -1
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@@ -981,7 +981,11 @@ Compass::read(void)
if (_learn == LEARN_INFLIGHT && learn != nullptr) {
learn->update();
}
return healthy();
bool ret = healthy();
if (ret && _log_bit != (uint32_t)-1 && AP::logger().should_log(_log_bit) && !AP::ahrs().have_ekf_logging()) {
AP::logger().Write_Compass();
}
return ret;
}
uint8_t
libraries/AP_Compass/AP_Compass.h
+6
View File
@@ -143,6 +143,9 @@ public:
bool compass_cal_requires_reboot() const { return _cal_complete_requires_reboot; }
bool is_calibrating() const;
// indicate which bit in LOG_BITMASK indicates we should log compass readings
void set_log_bit(uint32_t log_bit) { _log_bit = log_bit; }
/*
handle an incoming MAG_CAL command
*/
@@ -404,6 +407,9 @@ private:
// first-time-around flag used by offset nulling
bool _null_init_done;
// stores which bit is used to indicate we should log compass readings
uint32_t _log_bit = -1;
// used by offset correction
static const uint8_t _mag_history_size = 20;