/*
log some key data - 10Hz
*/
void Rover::update_logging1(void)
{
if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) {
Log_Write_Attitude();
}
if (should_log(MASK_LOG_THR)) {
Log_Write_Throttle();
DataFlash.Log_Write_Beacon(g2.beacon);
Log_Write_Proximity();
}
if (should_log(MASK_LOG_NTUN)) {
Log_Write_Nav_Tuning();
}
}
// ten_hz_logging_loop
// should be run at 10hz
void Copter::ten_hz_logging_loop()
{
// log attitude data if we're not already logging at the higher rate
if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) {
Log_Write_Attitude();
DataFlash.Log_Write_Rate(ahrs, motors, attitude_control, pos_control);
if (should_log(MASK_LOG_PID)) {
DataFlash.Log_Write_PID(LOG_PIDR_MSG, attitude_control.get_rate_roll_pid().get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDP_MSG, attitude_control.get_rate_pitch_pid().get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDY_MSG, attitude_control.get_rate_yaw_pid().get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDA_MSG, g.pid_accel_z.get_pid_info() );
}
}
if (should_log(MASK_LOG_MOTBATT)) {
Log_Write_MotBatt();
}
if (should_log(MASK_LOG_RCIN)) {
DataFlash.Log_Write_RCIN();
if (rssi.enabled()) {
DataFlash.Log_Write_RSSI(rssi);
}
}
if (should_log(MASK_LOG_RCOUT)) {
DataFlash.Log_Write_RCOUT();
}
if (should_log(MASK_LOG_NTUN) && (mode_requires_GPS(control_mode) || landing_with_GPS())) {
Log_Write_Nav_Tuning();
}
if (should_log(MASK_LOG_IMU) || should_log(MASK_LOG_IMU_FAST) || should_log(MASK_LOG_IMU_RAW)) {
DataFlash.Log_Write_Vibration(ins);
}
if (should_log(MASK_LOG_CTUN)) {
attitude_control.control_monitor_log();
Log_Write_Proximity();
}
#if FRAME_CONFIG == HELI_FRAME
Log_Write_Heli();
#endif
}
