Copter: added raw RFND logging

8 years ago · 2ed32a3ac0
1 changed files with 5 additions and 0 deletions
--- a/ArduCopter/sensors.cpp
+++ b/ArduCopter/sensors.cpp
@ -39,6 +39,11 @@ void Copter::read_rangefinder(void)
				@@ -39,6 +39,11 @@ void Copter::read_rangefinder(void)
 #if RANGEFINDER_ENABLED == ENABLED
    rangefinder.update();

+    if (rangefinder.num_sensors() > 0 &&
+        should_log(MASK_LOG_CTUN)) {
+        DataFlash.Log_Write_RFND(rangefinder);
+    }
+    
    rangefinder_state.alt_healthy = ((rangefinder.status() == RangeFinder::RangeFinder_Good) && (rangefinder.range_valid_count() >= RANGEFINDER_HEALTH_MAX));

    int16_t temp_alt = rangefinder.distance_cm();