mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-30 16:56:12 +08:00
Andy Piper
97b5b0448a
These fields are constant per-instance, so logging them in RISI inflated the replay log on every frame and broke replay of logs captured before this PR landed (RISI gained two floats). Restore RISI to its original layout and add RISJ, which carries gyro_bias_limit and gyro_bias_init_dps plus the instance and is written only when changed via WRITE_REPLAY_BLOCK_IFCHANGED. Seed _RISJ[] with the legacy defaults (0.5 rad/s clamp, 2.5 deg/s init) in the DAL constructor so replays of older logs that have no RISJ messages still feed sane values to the EKF.